"""
pigpio is a Python module for the Raspberry which talks to
the pigpio daemon to allow control of the general purpose
input outputs (GPIO).
[http://abyz.me.uk/rpi/pigpio/python.html]
*Features*
o the pigpio Python module can run on Windows, Macs, or Linux
o controls one or more Pi's
o hardware timed PWM on any of GPIO 0-31
o hardware timed servo pulses on any of GPIO 0-31
o callbacks when any of GPIO 0-31 change state
o creating and transmitting precisely timed waveforms
o reading/writing GPIO and setting their modes
o wrappers for I2C, SPI, and serial links
o creating and running scripts on the pigpio daemon
*GPIO*
ALL GPIO are identified by their Broadcom number.
*Notes*
Transmitted waveforms are accurate to a microsecond.
Callback level changes are time-stamped and will be
accurate to within a few microseconds.
*Settings*
A number of settings are determined when the pigpio daemon is started.
o the sample rate (1, 2, 4, 5, 8, or 10 us, default 5 us).
o the set of GPIO which may be updated (generally written to). The
default set is those available on the Pi board revision.
o the available PWM frequencies (see [*set_PWM_frequency*]).
*Exceptions*
By default a fatal exception is raised if you pass an invalid
argument to a pigpio function.
If you wish to handle the returned status yourself you should set
pigpio.exceptions to False.
You may prefer to check the returned status in only a few parts
of your code. In that case do the following:
...
pigpio.exceptions = False
# Code where you want to test the error status.
pigpio.exceptions = True
...
*Usage*
This module uses the services of the C pigpio library. pigpio
must be running on the Pi(s) whose GPIO are to be manipulated.
The normal way to start pigpio is as a daemon (during system
start).
sudo pigpiod
Your Python program must import pigpio and create one or more
instances of the pigpio.pi class. This class gives access to
a specified Pi's GPIO.
...
pi1 = pigpio.pi() # pi1 accesses the local Pi's GPIO
pi2 = pigpio.pi('tom') # pi2 accesses tom's GPIO
pi3 = pigpio.pi('dick') # pi3 accesses dick's GPIO
pi1.write(4, 0) # set local Pi's GPIO 4 low
pi2.write(4, 1) # set tom's GPIO 4 to high
pi3.read(4) # get level of dick's GPIO 4
...
The later example code snippets assume that pi is an instance of
the pigpio.pi class.
OVERVIEW
ESSENTIAL
pigpio.pi Initialise Pi connection
stop Stop a Pi connection
BASIC
set_mode Set a GPIO mode
get_mode Get a GPIO mode
set_pull_up_down Set/clear GPIO pull up/down resistor
read Read a GPIO
write Write a GPIO
PWM_(overrides_servo_commands_on_same_GPIO)
set_PWM_dutycycle Start/stop PWM pulses on a GPIO
set_PWM_frequency Set PWM frequency of a GPIO
set_PWM_range Configure PWM range of a GPIO
get_PWM_dutycycle Get PWM dutycycle set on a GPIO
get_PWM_frequency Get PWM frequency of a GPIO
get_PWM_range Get configured PWM range of a GPIO
get_PWM_real_range Get underlying PWM range for a GPIO
Servo_(overrides_PWM_commands_on_same_GPIO)
set_servo_pulsewidth Start/Stop servo pulses on a GPIO
get_servo_pulsewidth Get servo pulsewidth set on a GPIO
INTERMEDIATE
gpio_trigger Send a trigger pulse to a GPIO
set_watchdog Set a watchdog on a GPIO
read_bank_1 Read all bank 1 GPIO
read_bank_2 Read all bank 2 GPIO
clear_bank_1 Clear selected GPIO in bank 1
clear_bank_2 Clear selected GPIO in bank 2
set_bank_1 Set selected GPIO in bank 1
set_bank_2 Set selected GPIO in bank 2
callback Create GPIO level change callback
wait_for_edge Wait for GPIO level change
ADVANCED
notify_open Request a notification handle
notify_begin Start notifications for selected GPIO
notify_pause Pause notifications
notify_close Close a notification
hardware_clock Start hardware clock on supported GPIO
hardware_PWM Start hardware PWM on supported GPIO
set_glitch_filter Set a glitch filter on a GPIO
set_noise_filter Set a noise filter on a GPIO
set_pad_strength Sets a pads drive strength
get_pad_strength Gets a pads drive strength
shell Executes a shell command
Custom
custom_1 User custom function 1
custom_2 User custom function 2
Events
event_callback Sets a callback for an event
event_trigger Triggers an event
wait_for_event Wait for an event
Scripts
store_script Store a script
run_script Run a stored script
update_script Set a scripts parameters
script_status Get script status and parameters
stop_script Stop a running script
delete_script Delete a stored script
I2C
i2c_open Opens an I2C device
i2c_close Closes an I2C device
i2c_write_quick SMBus write quick
i2c_read_byte SMBus read byte
i2c_write_byte SMBus write byte
i2c_read_byte_data SMBus read byte data
i2c_write_byte_data SMBus write byte data
i2c_read_word_data SMBus read word data
i2c_write_word_data SMBus write word data
i2c_read_block_data SMBus read block data
i2c_write_block_data SMBus write block data
i2c_read_i2c_block_data SMBus read I2C block data
i2c_write_i2c_block_data SMBus write I2C block data
i2c_read_device Reads the raw I2C device
i2c_write_device Writes the raw I2C device
i2c_process_call SMBus process call
i2c_block_process_call SMBus block process call
i2c_zip Performs multiple I2C transactions
I2C_BIT_BANG
bb_i2c_open Opens GPIO for bit banging I2C
bb_i2c_close Closes GPIO for bit banging I2C
bb_i2c_zip Performs multiple bit banged I2C transactions
I2C/SPI_SLAVE
bsc_xfer I2C/SPI as slave transfer
bsc_i2c I2C as slave transfer
SERIAL
serial_open Opens a serial device
serial_close Closes a serial device
serial_read_byte Reads a byte from a serial device
serial_write_byte Writes a byte to a serial device
serial_read Reads bytes from a serial device
serial_write Writes bytes to a serial device
serial_data_available Returns number of bytes ready to be read
SERIAL_BIT_BANG_(read_only)
bb_serial_read_open Open a GPIO for bit bang serial reads
bb_serial_read_close Close a GPIO for bit bang serial reads
bb_serial_invert Invert serial logic (1 invert, 0 normal)
bb_serial_read Read bit bang serial data from a GPIO
SPI
spi_open Opens a SPI device
spi_close Closes a SPI device
spi_read Reads bytes from a SPI device
spi_write Writes bytes to a SPI device
spi_xfer Transfers bytes with a SPI device
SPI_BIT_BANG
bb_spi_open Opens GPIO for bit banging SPI
bb_spi_close Closes GPIO for bit banging SPI
bb_spi_xfer Transfers bytes with bit banging SPI
FILES
file_open Opens a file
file_close Closes a file
file_read Reads bytes from a file
file_write Writes bytes to a file
file_seek Seeks to a position within a file
file_list List files which match a pattern
WAVES
wave_clear Deletes all waveforms
wave_add_new Starts a new waveform
wave_add_generic Adds a series of pulses to the waveform
wave_add_serial Adds serial data to the waveform
wave_create Creates a waveform from added data
wave_create_and_pad Creates a waveform of fixed size from added data
wave_delete Deletes a waveform
wave_send_once Transmits a waveform once
wave_send_repeat Transmits a waveform repeatedly
wave_send_using_mode Transmits a waveform in the chosen mode
wave_chain Transmits a chain of waveforms
wave_tx_at Returns the current transmitting waveform
wave_tx_busy Checks to see if a waveform has ended
wave_tx_stop Aborts the current waveform
wave_get_cbs Length in cbs of the current waveform
wave_get_max_cbs Absolute maximum allowed cbs
wave_get_micros Length in microseconds of the current waveform
wave_get_max_micros Absolute maximum allowed micros
wave_get_pulses Length in pulses of the current waveform
wave_get_max_pulses Absolute maximum allowed pulses
UTILITIES
get_current_tick Get current tick (microseconds)
get_hardware_revision Get hardware revision
get_pigpio_version Get the pigpio version
pigpio.error_text Gets error text from error number
pigpio.tickDiff Returns difference between two ticks
"""
import sys
import socket
import struct
import time
import threading
import os
import atexit
VERSION = "1.78" # sync minor number to pigpio library version
exceptions = True
# GPIO levels
OFF = 0
LOW = 0
CLEAR = 0
ON = 1
HIGH = 1
SET = 1
TIMEOUT = 2
# GPIO edges
RISING_EDGE = 0
FALLING_EDGE = 1
EITHER_EDGE = 2
# GPIO modes
INPUT = 0
OUTPUT = 1
ALT0 = 4
ALT1 = 5
ALT2 = 6
ALT3 = 7
ALT4 = 3
ALT5 = 2
# GPIO Pull Up Down
PUD_OFF = 0
PUD_DOWN = 1
PUD_UP = 2
# script run status
PI_SCRIPT_INITING=0
PI_SCRIPT_HALTED =1
PI_SCRIPT_RUNNING=2
PI_SCRIPT_WAITING=3
PI_SCRIPT_FAILED =4
# notification flags
NTFY_FLAGS_EVENT = (1 << 7)
NTFY_FLAGS_ALIVE = (1 << 6)
NTFY_FLAGS_WDOG = (1 << 5)
NTFY_FLAGS_GPIO = 31
# wave modes
WAVE_MODE_ONE_SHOT =0
WAVE_MODE_REPEAT =1
WAVE_MODE_ONE_SHOT_SYNC=2
WAVE_MODE_REPEAT_SYNC =3
WAVE_NOT_FOUND = 9998 # Transmitted wave not found.
NO_TX_WAVE = 9999 # No wave being transmitted.
FILE_READ=1
FILE_WRITE=2
FILE_RW=3
FILE_APPEND=4
FILE_CREATE=8
FILE_TRUNC=16
FROM_START=0
FROM_CURRENT=1
FROM_END=2
SPI_MODE_0 = 0
SPI_MODE_1 = 1
SPI_MODE_2 = 2
SPI_MODE_3 = 3
SPI_CPHA = 1 << 0
SPI_CPOL = 1 << 1
SPI_CS_HIGH_ACTIVE = 1 << 2
SPI_TX_LSBFIRST = 1 << 14
SPI_RX_LSBFIRST = 1 << 15
EVENT_BSC = 31
_SOCK_CMD_LEN = 16
# pigpio command numbers
_PI_CMD_MODES= 0
_PI_CMD_MODEG= 1
_PI_CMD_PUD= 2
_PI_CMD_READ= 3
_PI_CMD_WRITE= 4
_PI_CMD_PWM= 5
_PI_CMD_PRS= 6
_PI_CMD_PFS= 7
_PI_CMD_SERVO= 8
_PI_CMD_WDOG= 9
_PI_CMD_BR1= 10
_PI_CMD_BR2= 11
_PI_CMD_BC1= 12
_PI_CMD_BC2= 13
_PI_CMD_BS1= 14
_PI_CMD_BS2= 15
_PI_CMD_TICK= 16
_PI_CMD_HWVER=17
_PI_CMD_NO= 18
_PI_CMD_NB= 19
_PI_CMD_NP= 20
_PI_CMD_NC= 21
_PI_CMD_PRG= 22
_PI_CMD_PFG= 23
_PI_CMD_PRRG= 24
_PI_CMD_HELP= 25
_PI_CMD_PIGPV=26
_PI_CMD_WVCLR=27
_PI_CMD_WVAG= 28
_PI_CMD_WVAS= 29
_PI_CMD_WVGO= 30
_PI_CMD_WVGOR=31
_PI_CMD_WVBSY=32
_PI_CMD_WVHLT=33
_PI_CMD_WVSM= 34
_PI_CMD_WVSP= 35
_PI_CMD_WVSC= 36
_PI_CMD_TRIG= 37
_PI_CMD_PROC= 38
_PI_CMD_PROCD=39
_PI_CMD_PROCR=40
_PI_CMD_PROCS=41
_PI_CMD_SLRO= 42
_PI_CMD_SLR= 43
_PI_CMD_SLRC= 44
_PI_CMD_PROCP=45
_PI_CMD_MICRO=46
_PI_CMD_MILLI=47
_PI_CMD_PARSE=48
_PI_CMD_WVCRE=49
_PI_CMD_WVDEL=50
_PI_CMD_WVTX =51
_PI_CMD_WVTXR=52
_PI_CMD_WVNEW=53
_PI_CMD_I2CO =54
_PI_CMD_I2CC =55
_PI_CMD_I2CRD=56
_PI_CMD_I2CWD=57
_PI_CMD_I2CWQ=58
_PI_CMD_I2CRS=59
_PI_CMD_I2CWS=60
_PI_CMD_I2CRB=61
_PI_CMD_I2CWB=62
_PI_CMD_I2CRW=63
_PI_CMD_I2CWW=64
_PI_CMD_I2CRK=65
_PI_CMD_I2CWK=66
_PI_CMD_I2CRI=67
_PI_CMD_I2CWI=68
_PI_CMD_I2CPC=69
_PI_CMD_I2CPK=70
_PI_CMD_SPIO =71
_PI_CMD_SPIC =72
_PI_CMD_SPIR =73
_PI_CMD_SPIW =74
_PI_CMD_SPIX =75
_PI_CMD_SERO =76
_PI_CMD_SERC =77
_PI_CMD_SERRB=78
_PI_CMD_SERWB=79
_PI_CMD_SERR =80
_PI_CMD_SERW =81
_PI_CMD_SERDA=82
_PI_CMD_GDC =83
_PI_CMD_GPW =84
_PI_CMD_HC =85
_PI_CMD_HP =86
_PI_CMD_CF1 =87
_PI_CMD_CF2 =88
_PI_CMD_NOIB =99
_PI_CMD_BI2CC=89
_PI_CMD_BI2CO=90
_PI_CMD_BI2CZ=91
_PI_CMD_I2CZ =92
_PI_CMD_WVCHA=93
_PI_CMD_SLRI =94
_PI_CMD_CGI =95
_PI_CMD_CSI =96
_PI_CMD_FG =97
_PI_CMD_FN =98
_PI_CMD_WVTXM=100
_PI_CMD_WVTAT=101
_PI_CMD_PADS =102
_PI_CMD_PADG =103
_PI_CMD_FO =104
_PI_CMD_FC =105
_PI_CMD_FR =106
_PI_CMD_FW =107
_PI_CMD_FS =108
_PI_CMD_FL =109
_PI_CMD_SHELL=110
_PI_CMD_BSPIC=111
_PI_CMD_BSPIO=112
_PI_CMD_BSPIX=113
_PI_CMD_BSCX =114
_PI_CMD_EVM =115
_PI_CMD_EVT =116
_PI_CMD_PROCU=117
_PI_CMD_WVCAP=118
# pigpio error numbers
_PI_INIT_FAILED =-1
PI_BAD_USER_GPIO =-2
PI_BAD_GPIO =-3
PI_BAD_MODE =-4
PI_BAD_LEVEL =-5
PI_BAD_PUD =-6
PI_BAD_PULSEWIDTH =-7
PI_BAD_DUTYCYCLE =-8
_PI_BAD_TIMER =-9
_PI_BAD_MS =-10
_PI_BAD_TIMETYPE =-11
_PI_BAD_SECONDS =-12
_PI_BAD_MICROS =-13
_PI_TIMER_FAILED =-14
PI_BAD_WDOG_TIMEOUT =-15
_PI_NO_ALERT_FUNC =-16
_PI_BAD_CLK_PERIPH =-17
_PI_BAD_CLK_SOURCE =-18
_PI_BAD_CLK_MICROS =-19
_PI_BAD_BUF_MILLIS =-20
PI_BAD_DUTYRANGE =-21
_PI_BAD_SIGNUM =-22
_PI_BAD_PATHNAME =-23
PI_NO_HANDLE =-24
PI_BAD_HANDLE =-25
_PI_BAD_IF_FLAGS =-26
_PI_BAD_CHANNEL =-27
_PI_BAD_PRIM_CHANNEL=-27
_PI_BAD_SOCKET_PORT =-28
_PI_BAD_FIFO_COMMAND=-29
_PI_BAD_SECO_CHANNEL=-30
_PI_NOT_INITIALISED =-31
_PI_INITIALISED =-32
_PI_BAD_WAVE_MODE =-33
_PI_BAD_CFG_INTERNAL=-34
PI_BAD_WAVE_BAUD =-35
PI_TOO_MANY_PULSES =-36
PI_TOO_MANY_CHARS =-37
PI_NOT_SERIAL_GPIO =-38
_PI_BAD_SERIAL_STRUC=-39
_PI_BAD_SERIAL_BUF =-40
PI_NOT_PERMITTED =-41
PI_SOME_PERMITTED =-42
PI_BAD_WVSC_COMMND =-43
PI_BAD_WVSM_COMMND =-44
PI_BAD_WVSP_COMMND =-45
PI_BAD_PULSELEN =-46
PI_BAD_SCRIPT =-47
PI_BAD_SCRIPT_ID =-48
PI_BAD_SER_OFFSET =-49
PI_GPIO_IN_USE =-50
PI_BAD_SERIAL_COUNT =-51
PI_BAD_PARAM_NUM =-52
PI_DUP_TAG =-53
PI_TOO_MANY_TAGS =-54
PI_BAD_SCRIPT_CMD =-55
PI_BAD_VAR_NUM =-56
PI_NO_SCRIPT_ROOM =-57
PI_NO_MEMORY =-58
PI_SOCK_READ_FAILED =-59
PI_SOCK_WRIT_FAILED =-60
PI_TOO_MANY_PARAM =-61
PI_SCRIPT_NOT_READY =-62
PI_BAD_TAG =-63
PI_BAD_MICS_DELAY =-64
PI_BAD_MILS_DELAY =-65
PI_BAD_WAVE_ID =-66
PI_TOO_MANY_CBS =-67
PI_TOO_MANY_OOL =-68
PI_EMPTY_WAVEFORM =-69
PI_NO_WAVEFORM_ID =-70
PI_I2C_OPEN_FAILED =-71
PI_SER_OPEN_FAILED =-72
PI_SPI_OPEN_FAILED =-73
PI_BAD_I2C_BUS =-74
PI_BAD_I2C_ADDR =-75
PI_BAD_SPI_CHANNEL =-76
PI_BAD_FLAGS =-77
PI_BAD_SPI_SPEED =-78
PI_BAD_SER_DEVICE =-79
PI_BAD_SER_SPEED =-80
PI_BAD_PARAM =-81
PI_I2C_WRITE_FAILED =-82
PI_I2C_READ_FAILED =-83
PI_BAD_SPI_COUNT =-84
PI_SER_WRITE_FAILED =-85
PI_SER_READ_FAILED =-86
PI_SER_READ_NO_DATA =-87
PI_UNKNOWN_COMMAND =-88
PI_SPI_XFER_FAILED =-89
_PI_BAD_POINTER =-90
PI_NO_AUX_SPI =-91
PI_NOT_PWM_GPIO =-92
PI_NOT_SERVO_GPIO =-93
PI_NOT_HCLK_GPIO =-94
PI_NOT_HPWM_GPIO =-95
PI_BAD_HPWM_FREQ =-96
PI_BAD_HPWM_DUTY =-97
PI_BAD_HCLK_FREQ =-98
PI_BAD_HCLK_PASS =-99
PI_HPWM_ILLEGAL =-100
PI_BAD_DATABITS =-101
PI_BAD_STOPBITS =-102
PI_MSG_TOOBIG =-103
PI_BAD_MALLOC_MODE =-104
_PI_TOO_MANY_SEGS =-105
_PI_BAD_I2C_SEG =-106
PI_BAD_SMBUS_CMD =-107
PI_NOT_I2C_GPIO =-108
PI_BAD_I2C_WLEN =-109
PI_BAD_I2C_RLEN =-110
PI_BAD_I2C_CMD =-111
PI_BAD_I2C_BAUD =-112
PI_CHAIN_LOOP_CNT =-113
PI_BAD_CHAIN_LOOP =-114
PI_CHAIN_COUNTER =-115
PI_BAD_CHAIN_CMD =-116
PI_BAD_CHAIN_DELAY =-117
PI_CHAIN_NESTING =-118
PI_CHAIN_TOO_BIG =-119
PI_DEPRECATED =-120
PI_BAD_SER_INVERT =-121
_PI_BAD_EDGE =-122
_PI_BAD_ISR_INIT =-123
PI_BAD_FOREVER =-124
PI_BAD_FILTER =-125
PI_BAD_PAD =-126
PI_BAD_STRENGTH =-127
PI_FIL_OPEN_FAILED =-128
PI_BAD_FILE_MODE =-129
PI_BAD_FILE_FLAG =-130
PI_BAD_FILE_READ =-131
PI_BAD_FILE_WRITE =-132
PI_FILE_NOT_ROPEN =-133
PI_FILE_NOT_WOPEN =-134
PI_BAD_FILE_SEEK =-135
PI_NO_FILE_MATCH =-136
PI_NO_FILE_ACCESS =-137
PI_FILE_IS_A_DIR =-138
PI_BAD_SHELL_STATUS =-139
PI_BAD_SCRIPT_NAME =-140
PI_BAD_SPI_BAUD =-141
PI_NOT_SPI_GPIO =-142
PI_BAD_EVENT_ID =-143
PI_CMD_INTERRUPTED =-144
PI_NOT_ON_BCM2711 =-145
PI_ONLY_ON_BCM2711 =-146
# pigpio error text
_errors=[
[_PI_INIT_FAILED , "pigpio initialisation failed"],
[PI_BAD_USER_GPIO , "GPIO not 0-31"],
[PI_BAD_GPIO , "GPIO not 0-53"],
[PI_BAD_MODE , "mode not 0-7"],
[PI_BAD_LEVEL , "level not 0-1"],
[PI_BAD_PUD , "pud not 0-2"],
[PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"],
[PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"],
[_PI_BAD_TIMER , "timer not 0-9"],
[_PI_BAD_MS , "ms not 10-60000"],
[_PI_BAD_TIMETYPE , "timetype not 0-1"],
[_PI_BAD_SECONDS , "seconds < 0"],
[_PI_BAD_MICROS , "micros not 0-999999"],
[_PI_TIMER_FAILED , "gpioSetTimerFunc failed"],
[PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"],
[_PI_NO_ALERT_FUNC , "DEPRECATED"],
[_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"],
[_PI_BAD_CLK_SOURCE , "DEPRECATED"],
[_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"],
[_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"],
[PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"],
[_PI_BAD_SIGNUM , "signum not 0-63"],
[_PI_BAD_PATHNAME , "can't open pathname"],
[PI_NO_HANDLE , "no handle available"],
[PI_BAD_HANDLE , "unknown handle"],
[_PI_BAD_IF_FLAGS , "ifFlags > 4"],
[_PI_BAD_CHANNEL , "DMA channel not 0-14"],
[_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"],
[_PI_BAD_FIFO_COMMAND , "unknown fifo command"],
[_PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-14"],
[_PI_NOT_INITIALISED , "function called before gpioInitialise"],
[_PI_INITIALISED , "function called after gpioInitialise"],
[_PI_BAD_WAVE_MODE , "waveform mode not 0-1"],
[_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"],
[PI_BAD_WAVE_BAUD , "baud rate not 50-250000(RX)/1000000(TX)"],
[PI_TOO_MANY_PULSES , "waveform has too many pulses"],
[PI_TOO_MANY_CHARS , "waveform has too many chars"],
[PI_NOT_SERIAL_GPIO , "no bit bang serial read in progress on GPIO"],
[PI_NOT_PERMITTED , "no permission to update GPIO"],
[PI_SOME_PERMITTED , "no permission to update one or more GPIO"],
[PI_BAD_WVSC_COMMND , "bad WVSC subcommand"],
[PI_BAD_WVSM_COMMND , "bad WVSM subcommand"],
[PI_BAD_WVSP_COMMND , "bad WVSP subcommand"],
[PI_BAD_PULSELEN , "trigger pulse length not 1-100"],
[PI_BAD_SCRIPT , "invalid script"],
[PI_BAD_SCRIPT_ID , "unknown script id"],
[PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"],
[PI_GPIO_IN_USE , "GPIO already in use"],
[PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"],
[PI_BAD_PARAM_NUM , "script parameter id not 0-9"],
[PI_DUP_TAG , "script has duplicate tag"],
[PI_TOO_MANY_TAGS , "script has too many tags"],
[PI_BAD_SCRIPT_CMD , "illegal script command"],
[PI_BAD_VAR_NUM , "script variable id not 0-149"],
[PI_NO_SCRIPT_ROOM , "no more room for scripts"],
[PI_NO_MEMORY , "can't allocate temporary memory"],
[PI_SOCK_READ_FAILED , "socket read failed"],
[PI_SOCK_WRIT_FAILED , "socket write failed"],
[PI_TOO_MANY_PARAM , "too many script parameters (> 10)"],
[PI_SCRIPT_NOT_READY , "script initialising"],
[PI_BAD_TAG , "script has unresolved tag"],
[PI_BAD_MICS_DELAY , "bad MICS delay (too large)"],
[PI_BAD_MILS_DELAY , "bad MILS delay (too large)"],
[PI_BAD_WAVE_ID , "non existent wave id"],
[PI_TOO_MANY_CBS , "No more CBs for waveform"],
[PI_TOO_MANY_OOL , "No more OOL for waveform"],
[PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"],
[PI_NO_WAVEFORM_ID , "No more waveform ids"],
[PI_I2C_OPEN_FAILED , "can't open I2C device"],
[PI_SER_OPEN_FAILED , "can't open serial device"],
[PI_SPI_OPEN_FAILED , "can't open SPI device"],
[PI_BAD_I2C_BUS , "bad I2C bus"],
[PI_BAD_I2C_ADDR , "bad I2C address"],
[PI_BAD_SPI_CHANNEL , "bad SPI channel"],
[PI_BAD_FLAGS , "bad i2c/spi/ser open flags"],
[PI_BAD_SPI_SPEED , "bad SPI speed"],
[PI_BAD_SER_DEVICE , "bad serial device name"],
[PI_BAD_SER_SPEED , "bad serial baud rate"],
[PI_BAD_PARAM , "bad i2c/spi/ser parameter"],
[PI_I2C_WRITE_FAILED , "I2C write failed"],
[PI_I2C_READ_FAILED , "I2C read failed"],
[PI_BAD_SPI_COUNT , "bad SPI count"],
[PI_SER_WRITE_FAILED , "ser write failed"],
[PI_SER_READ_FAILED , "ser read failed"],
[PI_SER_READ_NO_DATA , "ser read no data available"],
[PI_UNKNOWN_COMMAND , "unknown command"],
[PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"],
[_PI_BAD_POINTER , "bad (NULL) pointer"],
[PI_NO_AUX_SPI , "no auxiliary SPI on Pi A or B"],
[PI_NOT_PWM_GPIO , "GPIO is not in use for PWM"],
[PI_NOT_SERVO_GPIO , "GPIO is not in use for servo pulses"],
[PI_NOT_HCLK_GPIO , "GPIO has no hardware clock"],
[PI_NOT_HPWM_GPIO , "GPIO has no hardware PWM"],
[PI_BAD_HPWM_FREQ , "invalid hardware PWM frequency"],
[PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"],
[PI_BAD_HCLK_FREQ , "invalid hardware clock frequency"],
[PI_BAD_HCLK_PASS , "need password to use hardware clock 1"],
[PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"],
[PI_BAD_DATABITS , "serial data bits not 1-32"],
[PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"],
[PI_MSG_TOOBIG , "socket/pipe message too big"],
[PI_BAD_MALLOC_MODE , "bad memory allocation mode"],
[_PI_TOO_MANY_SEGS , "too many I2C transaction segments"],
[_PI_BAD_I2C_SEG , "an I2C transaction segment failed"],
[PI_BAD_SMBUS_CMD , "SMBus command not supported"],
[PI_NOT_I2C_GPIO , "no bit bang I2C in progress on GPIO"],
[PI_BAD_I2C_WLEN , "bad I2C write length"],
[PI_BAD_I2C_RLEN , "bad I2C read length"],
[PI_BAD_I2C_CMD , "bad I2C command"],
[PI_BAD_I2C_BAUD , "bad I2C baud rate, not 50-500k"],
[PI_CHAIN_LOOP_CNT , "bad chain loop count"],
[PI_BAD_CHAIN_LOOP , "empty chain loop"],
[PI_CHAIN_COUNTER , "too many chain counters"],
[PI_BAD_CHAIN_CMD , "bad chain command"],
[PI_BAD_CHAIN_DELAY , "bad chain delay micros"],
[PI_CHAIN_NESTING , "chain counters nested too deeply"],
[PI_CHAIN_TOO_BIG , "chain is too long"],
[PI_DEPRECATED , "deprecated function removed"],
[PI_BAD_SER_INVERT , "bit bang serial invert not 0 or 1"],
[_PI_BAD_EDGE , "bad ISR edge value, not 0-2"],
[_PI_BAD_ISR_INIT , "bad ISR initialisation"],
[PI_BAD_FOREVER , "loop forever must be last chain command"],
[PI_BAD_FILTER , "bad filter parameter"],
[PI_BAD_PAD , "bad pad number"],
[PI_BAD_STRENGTH , "bad pad drive strength"],
[PI_FIL_OPEN_FAILED , "file open failed"],
[PI_BAD_FILE_MODE , "bad file mode"],
[PI_BAD_FILE_FLAG , "bad file flag"],
[PI_BAD_FILE_READ , "bad file read"],
[PI_BAD_FILE_WRITE , "bad file write"],
[PI_FILE_NOT_ROPEN , "file not open for read"],
[PI_FILE_NOT_WOPEN , "file not open for write"],
[PI_BAD_FILE_SEEK , "bad file seek"],
[PI_NO_FILE_MATCH , "no files match pattern"],
[PI_NO_FILE_ACCESS , "no permission to access file"],
[PI_FILE_IS_A_DIR , "file is a directory"],
[PI_BAD_SHELL_STATUS , "bad shell return status"],
[PI_BAD_SCRIPT_NAME , "bad script name"],
[PI_BAD_SPI_BAUD , "bad SPI baud rate, not 50-500k"],
[PI_NOT_SPI_GPIO , "no bit bang SPI in progress on GPIO"],
[PI_BAD_EVENT_ID , "bad event id"],
[PI_CMD_INTERRUPTED , "pigpio command interrupted"],
[PI_NOT_ON_BCM2711 , "not available on BCM2711"],
[PI_ONLY_ON_BCM2711 , "only available on BCM2711"],
]
_except_a = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n{}"
_except_z = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%"
_except_1 = """
Did you start the pigpio daemon? E.g. sudo pigpiod
Did you specify the correct Pi host/port in the environment
variables PIGPIO_ADDR/PIGPIO_PORT?
E.g. export PIGPIO_ADDR=soft, export PIGPIO_PORT=8888
Did you specify the correct Pi host/port in the
pigpio.pi() function? E.g. pigpio.pi('soft', 8888)"""
_except_2 = """
Do you have permission to access the pigpio daemon?
Perhaps it was started with sudo pigpiod -nlocalhost"""
_except_3 = """
Can't create callback thread.
Perhaps too many simultaneous pigpio connections."""
class _socklock:
"""
A class to store socket and lock.
"""
def __init__(self):
self.s = None
self.l = threading.Lock()
class error(Exception):
"""pigpio module exception"""
def __init__(self, value):
self.value = value
def __str__(self):
return repr(self.value)
class pulse:
"""
A class to store pulse information.
"""
def __init__(self, gpio_on, gpio_off, delay):
"""
Initialises a pulse.
gpio_on:= the GPIO to switch on at the start of the pulse.
gpio_off:= the GPIO to switch off at the start of the pulse.
delay:= the delay in microseconds before the next pulse.
"""
self.gpio_on = gpio_on
self.gpio_off = gpio_off
self.delay = delay
def error_text(errnum):
"""
Returns a text description of a pigpio error.
errnum:= <0, the error number
...
print(pigpio.error_text(-5))
level not 0-1
...
"""
for e in _errors:
if e[0] == errnum:
return e[1]
return "unknown error ({})".format(errnum)
def tickDiff(t1, t2):
"""
Returns the microsecond difference between two ticks.
t1:= the earlier tick
t2:= the later tick
...
print(pigpio.tickDiff(4294967272, 12))
36
...
"""
tDiff = t2 - t1
if tDiff < 0:
tDiff += (1 << 32)
return tDiff
# A couple of hacks to cope with different string handling
# between various Python versions
# 3 != 2.7.8 != 2.7.3
if sys.hexversion < 0x03000000:
def _b(x):
return x
else:
def _b(x):
return x.encode('latin-1')
if sys.hexversion < 0x02070800:
def _str(x):
return buffer(x)
else:
def _str(x):
return x
def u2i(uint32):
"""
Converts a 32 bit unsigned number to signed.
uint32:= an unsigned 32 bit number
...
print(u2i(4294967272))
-24
print(u2i(37))
37
...
"""
mask = (2 ** 32) - 1
if uint32 & (1 << 31):
v = uint32 | ~mask
else:
v = uint32 & mask
return v
def _u2i(uint32):
"""
Converts a 32 bit unsigned number to signed. If the number
is negative it indicates an error. On error a pigpio
exception will be raised if exceptions is True.
"""
v = u2i(uint32)
if v < 0:
if exceptions:
raise error(error_text(v))
return v
def _pigpio_command(sl, cmd, p1, p2):
"""
Runs a pigpio socket command.
sl:= command socket and lock.
cmd:= the command to be executed.
p1:= command parameter 1 (if applicable).
p2:= command parameter 2 (if applicable).
"""
res = PI_CMD_INTERRUPTED
with sl.l:
sl.s.send(struct.pack('IIII', cmd, p1, p2, 0))
dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN))
return res
def _pigpio_command_nolock(sl, cmd, p1, p2):
"""
Runs a pigpio socket command.
sl:= command socket and lock.
cmd:= the command to be executed.
p1:= command parameter 1 (if applicable).
p2:= command parameter 2 (if applicable).
"""
res = PI_CMD_INTERRUPTED
sl.s.send(struct.pack('IIII', cmd, p1, p2, 0))
dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN))
return res
def _pigpio_command_ext(sl, cmd, p1, p2, p3, extents):
"""
Runs an extended pigpio socket command.
sl:= command socket and lock.
cmd:= the command to be executed.
p1:= command parameter 1 (if applicable).
p2:= command parameter 2 (if applicable).
p3:= total size in bytes of following extents
extents:= additional data blocks
"""
ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3))
for x in extents:
if type(x) == type(""):
ext.extend(_b(x))
else:
ext.extend(x)
res = PI_CMD_INTERRUPTED
with sl.l:
sl.s.sendall(ext)
dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN))
return res
def _pigpio_command_ext_nolock(sl, cmd, p1, p2, p3, extents):
"""
Runs an extended pigpio socket command.
sl:= command socket and lock.
cmd:= the command to be executed.
p1:= command parameter 1 (if applicable).
p2:= command parameter 2 (if applicable).
p3:= total size in bytes of following extents
extents:= additional data blocks
"""
res = PI_CMD_INTERRUPTED
ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3))
for x in extents:
if type(x) == type(""):
ext.extend(_b(x))
else:
ext.extend(x)
sl.s.sendall(ext)
dummy, res = struct.unpack('12sI', sl.s.recv(_SOCK_CMD_LEN))
return res
class _event_ADT:
"""
An ADT class to hold event callback information.
"""
def __init__(self, event, func):
"""
Initialises an event callback ADT.
event:= the event id.
func:= a user function taking one argument, the event id.
"""
self.event = event
self.func = func
self.bit = 1<<event
class _callback_ADT:
"""An ADT class to hold callback information."""
def __init__(self, gpio, edge, func):
"""
Initialises a callback ADT.
gpio:= Broadcom GPIO number.
edge:= EITHER_EDGE, RISING_EDGE, or FALLING_EDGE.
func:= a user function taking three arguments (GPIO, level, tick).
"""
self.gpio = gpio
self.edge = edge
self.func = func
self.bit = 1<<gpio
class _callback_thread(threading.Thread):
"""A class to encapsulate pigpio notification callbacks."""
def __init__(self, control, host, port):
"""Initialises notifications."""
threading.Thread.__init__(self)
self.control = control
self.sl = _socklock()
self.go = False
self.daemon = True
self.monitor = 0
self.event_bits = 0
self.callbacks = []
self.events = []
self.sl.s = socket.create_connection((host, port), None)
self.lastLevel = _pigpio_command(self.sl, _PI_CMD_BR1, 0, 0)
self.handle = _u2i(_pigpio_command(self.sl, _PI_CMD_NOIB, 0, 0))
self.go = True
self.start()
def stop(self):
"""Stops notifications."""
if self.go:
self.go = False
self.sl.s.send(struct.pack('IIII', _PI_CMD_NC, self.handle, 0, 0))
def append(self, callb):
"""Adds a callback to the notification thread."""
self.callbacks.append(callb)
self.monitor = self.monitor | callb.bit
_pigpio_command(self.control, _PI_CMD_NB, self.handle, self.monitor)
def remove(self, callb):
"""Removes a callback from the notification thread."""
if callb in self.callbacks:
self.callbacks.remove(callb)
newMonitor = 0
for c in self.callbacks:
newMonitor |= c.bit
if newMonitor != self.monitor:
self.monitor = newMonitor
_pigpio_command(
self.control, _PI_CMD_NB, self.handle, self.monitor)
def append_event(self, callb):
"""
Adds an event callback to the notification thread.
"""
self.events.append(callb)
self.event_bits = self.event_bits | callb.bit
_pigpio_command(self.control, _PI_CMD_EVM, self.handle, self.event_bits)
def remove_event(self, callb):
"""
Removes an event callback from the notification thread.
"""
if callb in self.events:
self.events.remove(callb)
new_event_bits = 0
for c in self.events:
new_event_bits |= c.bit
if new_event_bits != self.event_bits:
self.event_bits = new_event_bits
_pigpio_command(
self.control, _PI_CMD_EVM, self.handle, self.event_bits)
def run(self):
"""Runs the notification thread."""
lastLevel = self.lastLevel
RECV_SIZ = 4096
MSG_SIZ = 12
buf = bytes()
while self.go:
buf += self.sl.s.recv(RECV_SIZ)
offset = 0
while self.go and (len(buf) - offset) >= MSG_SIZ:
msgbuf = buf[offset:offset + MSG_SIZ]
offset += MSG_SIZ
seq, flags, tick, level = (struct.unpack('HHII', msgbuf))
if flags == 0:
changed = level ^ lastLevel
lastLevel = level
for cb in self.callbacks:
if cb.bit & changed:
newLevel = 0
if cb.bit & level:
newLevel = 1
if (cb.edge ^ newLevel):
cb.func(cb.gpio, newLevel, tick)
else:
if flags & NTFY_FLAGS_WDOG:
gpio = flags & NTFY_FLAGS_GPIO
for cb in self.callbacks:
if cb.gpio == gpio:
cb.func(gpio, TIMEOUT, tick)
elif flags & NTFY_FLAGS_EVENT:
event = flags & NTFY_FLAGS_GPIO
for cb in self.events:
if cb.event == event:
cb.func(event, tick)
buf = buf[offset:]
self.sl.s.close()
class _callback:
"""A class to provide GPIO level change callbacks."""
def __init__(self, notify, user_gpio, edge=RISING_EDGE, func=None):
"""
Initialise a callback and adds it to the notification thread.
"""
self._notify = notify
self.count=0
self._reset = False
if func is None:
func=self._tally
self.callb = _callback_ADT(user_gpio, edge, func)
self._notify.append(self.callb)
def cancel(self):
"""Cancels a callback by removing it from the notification thread."""
self._notify.remove(self.callb)
def _tally(self, user_gpio, level, tick):
"""Increment the callback called count."""
if self._reset:
self._reset = False
self.count = 0
self.count += 1
def tally(self):
"""
Provides a count of how many times the default tally
callback has triggered.
The count will be zero if the user has supplied their own
callback function.
"""
return self.count
def reset_tally(self):
"""
Resets the tally count to zero.
"""
self._reset = True
self.count = 0
class _event:
"""A class to provide event callbacks."""
def __init__(self, notify, event, func=None):
"""
Initialise an event and adds it to the notification thread.
"""
self._notify = notify
self.count=0
self._reset = False
if func is None:
func=self._tally
self.callb = _event_ADT(event, func)
self._notify.append_event(self.callb)
def cancel(self):
"""
Cancels a event callback by removing it from the
notification thread.
"""
self._notify.remove_event(self.callb)
def _tally(self, event, tick):
"""Increment the event callback called count."""
if self._reset:
self._reset = False
self.count = 0
self.count += 1
def tally(self):
"""
Provides a count of how many times the default tally
callback has triggered.
The count will be zero if the user has supplied their own
callback function.
"""
return self.count
def reset_tally(self):
"""
Resets the tally count to zero.
"""
self._reset = True
self.count = 0
class _wait_for_edge:
"""Encapsulates waiting for GPIO edges."""
def __init__(self, notify, gpio, edge, timeout):
"""Initialises a wait_for_edge."""
self._notify = notify
self.callb = _callback_ADT(gpio, edge, self.func)
self.trigger = False
self._notify.append(self.callb)
self.start = time.time()
while (self.trigger == False) and ((time.time()-self.start) < timeout):
time.sleep(0.05)
self._notify.remove(self.callb)
def func(self, gpio, level, tick):
"""Sets wait_for_edge triggered."""
self.trigger = True
class _wait_for_event:
"""Encapsulates waiting for an event."""
def __init__(self, notify, event, timeout):
"""Initialises wait_for_event."""
self._notify = notify
self.callb = _event_ADT(event, self.func)
self.trigger = False
self._notify.append_event(self.callb)
self.start = time.time()
while (self.trigger == False) and ((time.time()-self.start) < timeout):
time.sleep(0.05)
self._notify.remove_event(self.callb)
def func(self, event, tick):
"""Sets wait_for_event triggered."""
self.trigger = True
class pi():
def _rxbuf(self, count):
"""Returns count bytes from the command socket."""
ext = bytearray(self.sl.s.recv(count))
while len(ext) < count:
ext.extend(self.sl.s.recv(count - len(ext)))
return ext
def set_mode(self, gpio, mode):
"""
Sets the GPIO mode.
gpio:= 0-53.
mode:= INPUT, OUTPUT, ALT0, ALT1, ALT2, ALT3, ALT4, ALT5.
...
pi.set_mode( 4, pigpio.INPUT) # GPIO 4 as input
pi.set_mode(17, pigpio.OUTPUT) # GPIO 17 as output
pi.set_mode(24, pigpio.ALT2) # GPIO 24 as ALT2
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_MODES, gpio, mode))
def get_mode(self, gpio):
"""
Returns the GPIO mode.
gpio:= 0-53.
Returns a value as follows
. .
0 = INPUT
1 = OUTPUT
2 = ALT5
3 = ALT4
4 = ALT0
5 = ALT1
6 = ALT2
7 = ALT3
. .
...
print(pi.get_mode(0))
4
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_MODEG, gpio, 0))
def set_pull_up_down(self, gpio, pud):
"""
Sets or clears the internal GPIO pull-up/down resistor.
gpio:= 0-53.
pud:= PUD_UP, PUD_DOWN, PUD_OFF.
...
pi.set_pull_up_down(17, pigpio.PUD_OFF)
pi.set_pull_up_down(23, pigpio.PUD_UP)
pi.set_pull_up_down(24, pigpio.PUD_DOWN)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PUD, gpio, pud))
def read(self, gpio):
"""
Returns the GPIO level.
gpio:= 0-53.
...
pi.set_mode(23, pigpio.INPUT)
pi.set_pull_up_down(23, pigpio.PUD_DOWN)
print(pi.read(23))
0
pi.set_pull_up_down(23, pigpio.PUD_UP)
print(pi.read(23))
1
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_READ, gpio, 0))
def write(self, gpio, level):
"""
Sets the GPIO level.
GPIO:= 0-53.
level:= 0, 1.
If PWM or servo pulses are active on the GPIO they are
switched off.
...
pi.set_mode(17, pigpio.OUTPUT)
pi.write(17,0)
print(pi.read(17))
0
pi.write(17,1)
print(pi.read(17))
1
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WRITE, gpio, level))
def set_PWM_dutycycle(self, user_gpio, dutycycle):
"""
Starts (non-zero dutycycle) or stops (0) PWM pulses on the GPIO.
user_gpio:= 0-31.
dutycycle:= 0-range (range defaults to 255).
The [*set_PWM_range*] function can change the default range of 255.
...
pi.set_PWM_dutycycle(4, 0) # PWM off
pi.set_PWM_dutycycle(4, 64) # PWM 1/4 on
pi.set_PWM_dutycycle(4, 128) # PWM 1/2 on
pi.set_PWM_dutycycle(4, 192) # PWM 3/4 on
pi.set_PWM_dutycycle(4, 255) # PWM full on
...
"""
return _u2i(_pigpio_command(
self.sl, _PI_CMD_PWM, user_gpio, int(dutycycle)))
def get_PWM_dutycycle(self, user_gpio):
"""
Returns the PWM dutycycle being used on the GPIO.
user_gpio:= 0-31.
Returns the PWM dutycycle.
For normal PWM the dutycycle will be out of the defined range
for the GPIO (see [*get_PWM_range*]).
If a hardware clock is active on the GPIO the reported
dutycycle will be 500000 (500k) out of 1000000 (1M).
If hardware PWM is active on the GPIO the reported dutycycle
will be out of a 1000000 (1M).
...
pi.set_PWM_dutycycle(4, 25)
print(pi.get_PWM_dutycycle(4))
25
pi.set_PWM_dutycycle(4, 203)
print(pi.get_PWM_dutycycle(4))
203
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_GDC, user_gpio, 0))
def set_PWM_range(self, user_gpio, range_):
"""
Sets the range of PWM values to be used on the GPIO.
user_gpio:= 0-31.
range_:= 25-40000.
...
pi.set_PWM_range(9, 100) # now 25 1/4, 50 1/2, 75 3/4 on
pi.set_PWM_range(9, 500) # now 125 1/4, 250 1/2, 375 3/4 on
pi.set_PWM_range(9, 3000) # now 750 1/4, 1500 1/2, 2250 3/4 on
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PRS, user_gpio, range_))
def get_PWM_range(self, user_gpio):
"""
Returns the range of PWM values being used on the GPIO.
user_gpio:= 0-31.
If a hardware clock or hardware PWM is active on the GPIO
the reported range will be 1000000 (1M).
...
pi.set_PWM_range(9, 500)
print(pi.get_PWM_range(9))
500
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PRG, user_gpio, 0))
def get_PWM_real_range(self, user_gpio):
"""
Returns the real (underlying) range of PWM values being
used on the GPIO.
user_gpio:= 0-31.
If a hardware clock is active on the GPIO the reported
real range will be 1000000 (1M).
If hardware PWM is active on the GPIO the reported real range
will be approximately 250M divided by the set PWM frequency.
...
pi.set_PWM_frequency(4, 800)
print(pi.get_PWM_real_range(4))
250
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PRRG, user_gpio, 0))
def set_PWM_frequency(self, user_gpio, frequency):
"""
Sets the frequency (in Hz) of the PWM to be used on the GPIO.
user_gpio:= 0-31.
frequency:= >=0 Hz
Returns the numerically closest frequency if OK, otherwise
PI_BAD_USER_GPIO or PI_NOT_PERMITTED.
If PWM is currently active on the GPIO it will be switched
off and then back on at the new frequency.
Each GPIO can be independently set to one of 18 different
PWM frequencies.
The selectable frequencies depend upon the sample rate which
may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The
sample rate is set when the pigpio daemon is started.
The frequencies for each sample rate are:
. .
Hertz
1: 40000 20000 10000 8000 5000 4000 2500 2000 1600
1250 1000 800 500 400 250 200 100 50
2: 20000 10000 5000 4000 2500 2000 1250 1000 800
625 500 400 250 200 125 100 50 25
4: 10000 5000 2500 2000 1250 1000 625 500 400
313 250 200 125 100 63 50 25 13
sample
rate
(us) 5: 8000 4000 2000 1600 1000 800 500 400 320
250 200 160 100 80 50 40 20 10
8: 5000 2500 1250 1000 625 500 313 250 200
156 125 100 63 50 31 25 13 6
10: 4000 2000 1000 800 500 400 250 200 160
125 100 80 50 40 25 20 10 5
. .
...
pi.set_PWM_frequency(4,0)
print(pi.get_PWM_frequency(4))
10
pi.set_PWM_frequency(4,100000)
print(pi.get_PWM_frequency(4))
8000
...
"""
return _u2i(
_pigpio_command(self.sl, _PI_CMD_PFS, user_gpio, frequency))
def get_PWM_frequency(self, user_gpio):
"""
Returns the frequency of PWM being used on the GPIO.
user_gpio:= 0-31.
Returns the frequency (in Hz) used for the GPIO.
For normal PWM the frequency will be that defined for the GPIO
by [*set_PWM_frequency*].
If a hardware clock is active on the GPIO the reported frequency
will be that set by [*hardware_clock*].
If hardware PWM is active on the GPIO the reported frequency
will be that set by [*hardware_PWM*].
...
pi.set_PWM_frequency(4,0)
print(pi.get_PWM_frequency(4))
10
pi.set_PWM_frequency(4, 800)
print(pi.get_PWM_frequency(4))
800
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PFG, user_gpio, 0))
def set_servo_pulsewidth(self, user_gpio, pulsewidth):
"""
Starts (500-2500) or stops (0) servo pulses on the GPIO.
user_gpio:= 0-31.
pulsewidth:= 0 (off),
500 (most anti-clockwise) - 2500 (most clockwise).
The selected pulsewidth will continue to be transmitted until
changed by a subsequent call to set_servo_pulsewidth.
The pulsewidths supported by servos varies and should probably
be determined by experiment. A value of 1500 should always be
safe and represents the mid-point of rotation.
You can DAMAGE a servo if you command it to move beyond its
limits.
...
pi.set_servo_pulsewidth(17, 0) # off
pi.set_servo_pulsewidth(17, 1000) # safe anti-clockwise
pi.set_servo_pulsewidth(17, 1500) # centre
pi.set_servo_pulsewidth(17, 2000) # safe clockwise
...
"""
return _u2i(_pigpio_command(
self.sl, _PI_CMD_SERVO, user_gpio, int(pulsewidth)))
def get_servo_pulsewidth(self, user_gpio):
"""
Returns the servo pulsewidth being used on the GPIO.
user_gpio:= 0-31.
Returns the servo pulsewidth.
...
pi.set_servo_pulsewidth(4, 525)
print(pi.get_servo_pulsewidth(4))
525
pi.set_servo_pulsewidth(4, 2130)
print(pi.get_servo_pulsewidth(4))
2130
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_GPW, user_gpio, 0))
def notify_open(self):
"""
Returns a notification handle (>=0).
A notification is a method for being notified of GPIO state
changes via a pipe.
Pipes are only accessible from the local machine so this
function serves no purpose if you are using Python from a
remote machine. The in-built (socket) notifications
provided by [*callback*] should be used instead.
Notifications for handle x will be available at the pipe
named /dev/pigpiox (where x is the handle number).
E.g. if the function returns 15 then the notifications must be
read from /dev/pigpio15.
Notifications have the following structure:
. .
H seqno
H flags
I tick
I level
. .
seqno: starts at 0 each time the handle is opened and then
increments by one for each report.
flags: three flags are defined, PI_NTFY_FLAGS_WDOG,
PI_NTFY_FLAGS_ALIVE, and PI_NTFY_FLAGS_EVENT.
If bit 5 is set (PI_NTFY_FLAGS_WDOG) then bits 0-4 of the
flags indicate a GPIO which has had a watchdog timeout.
If bit 6 is set (PI_NTFY_FLAGS_ALIVE) this indicates a keep
alive signal on the pipe/socket and is sent once a minute
in the absence of other notification activity.
If bit 7 is set (PI_NTFY_FLAGS_EVENT) then bits 0-4 of the
flags indicate an event which has been triggered.
tick: the number of microseconds since system boot. It wraps
around after 1h12m.
level: indicates the level of each GPIO. If bit 1<<x is set
then GPIO x is high.
...
h = pi.notify_open()
if h >= 0:
pi.notify_begin(h, 1234)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_NO, 0, 0))
def notify_begin(self, handle, bits):
"""
Starts notifications on a handle.
handle:= >=0 (as returned by a prior call to [*notify_open*])
bits:= a 32 bit mask indicating the GPIO to be notified.
The notification sends state changes for each GPIO whose
corresponding bit in bits is set.
The following code starts notifications for GPIO 1, 4,
6, 7, and 10 (1234 = 0x04D2 = 0b0000010011010010).
...
h = pi.notify_open()
if h >= 0:
pi.notify_begin(h, 1234)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, bits))
def notify_pause(self, handle):
"""
Pauses notifications on a handle.
handle:= >=0 (as returned by a prior call to [*notify_open*])
Notifications for the handle are suspended until
[*notify_begin*] is called again.
...
h = pi.notify_open()
if h >= 0:
pi.notify_begin(h, 1234)
...
pi.notify_pause(h)
...
pi.notify_begin(h, 1234)
...
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, 0))
def notify_close(self, handle):
"""
Stops notifications on a handle and releases the handle for reuse.
handle:= >=0 (as returned by a prior call to [*notify_open*])
...
h = pi.notify_open()
if h >= 0:
pi.notify_begin(h, 1234)
...
pi.notify_close(h)
...
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_NC, handle, 0))
def set_watchdog(self, user_gpio, wdog_timeout):
"""
Sets a watchdog timeout for a GPIO.
user_gpio:= 0-31.
wdog_timeout:= 0-60000.
The watchdog is nominally in milliseconds.
Only one watchdog may be registered per GPIO.
The watchdog may be cancelled by setting timeout to 0.
Once a watchdog has been started callbacks for the GPIO
will be triggered every timeout interval after the last
GPIO activity.
The callback will receive the special level TIMEOUT.
...
pi.set_watchdog(23, 1000) # 1000 ms watchdog on GPIO 23
pi.set_watchdog(23, 0) # cancel watchdog on GPIO 23
...
"""
return _u2i(_pigpio_command(
self.sl, _PI_CMD_WDOG, user_gpio, int(wdog_timeout)))
def read_bank_1(self):
"""
Returns the levels of the bank 1 GPIO (GPIO 0-31).
The returned 32 bit integer has a bit set if the corresponding
GPIO is high. GPIO n has bit value (1<<n).
...
print(bin(pi.read_bank_1()))
0b10010100000011100100001001111
...
"""
return _pigpio_command(self.sl, _PI_CMD_BR1, 0, 0)
def read_bank_2(self):
"""
Returns the levels of the bank 2 GPIO (GPIO 32-53).
The returned 32 bit integer has a bit set if the corresponding
GPIO is high. GPIO n has bit value (1<<(n-32)).
...
print(bin(pi.read_bank_2()))
0b1111110000000000000000
...
"""
return _pigpio_command(self.sl, _PI_CMD_BR2, 0, 0)
def clear_bank_1(self, bits):
"""
Clears GPIO 0-31 if the corresponding bit in bits is set.
bits:= a 32 bit mask with 1 set if the corresponding GPIO is
to be cleared.
A returned status of PI_SOME_PERMITTED indicates that the user
is not allowed to write to one or more of the GPIO.
...
pi.clear_bank_1(int("111110010000",2))
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BC1, bits, 0))
def clear_bank_2(self, bits):
"""
Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set.
bits:= a 32 bit mask with 1 set if the corresponding GPIO is
to be cleared.
A returned status of PI_SOME_PERMITTED indicates that the user
is not allowed to write to one or more of the GPIO.
...
pi.clear_bank_2(0x1010)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BC2, bits, 0))
def set_bank_1(self, bits):
"""
Sets GPIO 0-31 if the corresponding bit in bits is set.
bits:= a 32 bit mask with 1 set if the corresponding GPIO is
to be set.
A returned status of PI_SOME_PERMITTED indicates that the user
is not allowed to write to one or more of the GPIO.
...
pi.set_bank_1(int("111110010000",2))
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BS1, bits, 0))
def set_bank_2(self, bits):
"""
Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set.
bits:= a 32 bit mask with 1 set if the corresponding GPIO is
to be set.
A returned status of PI_SOME_PERMITTED indicates that the user
is not allowed to write to one or more of the GPIO.
...
pi.set_bank_2(0x303)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BS2, bits, 0))
def hardware_clock(self, gpio, clkfreq):
"""
Starts a hardware clock on a GPIO at the specified frequency.
Frequencies above 30MHz are unlikely to work.
gpio:= see description
clkfreq:= 0 (off) or 4689-250M (13184-375M for the BCM2711)
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS.
The same clock is available on multiple GPIO. The latest
frequency setting will be used by all GPIO which share a clock.
The GPIO must be one of the following:
. .
4 clock 0 All models
5 clock 1 All models but A and B (reserved for system use)
6 clock 2 All models but A and B
20 clock 0 All models but A and B
21 clock 1 All models but A and Rev.2 B (reserved for system use)
32 clock 0 Compute module only
34 clock 0 Compute module only
42 clock 1 Compute module only (reserved for system use)
43 clock 2 Compute module only
44 clock 1 Compute module only (reserved for system use)
. .
Access to clock 1 is protected by a password as its use will
likely crash the Pi. The password is given by or'ing 0x5A000000
with the GPIO number.
...
pi.hardware_clock(4, 5000) # 5 KHz clock on GPIO 4
pi.hardware_clock(4, 40000000) # 40 MHz clock on GPIO 4
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_HC, gpio, clkfreq))
def hardware_PWM(self, gpio, PWMfreq, PWMduty):
"""
Starts hardware PWM on a GPIO at the specified frequency
and dutycycle. Frequencies above 30MHz are unlikely to work.
NOTE: Any waveform started by [*wave_send_once*],
[*wave_send_repeat*], or [*wave_chain*] will be cancelled.
This function is only valid if the pigpio main clock is PCM.
The main clock defaults to PCM but may be overridden when the
pigpio daemon is started (option -t).
gpio:= see descripton
PWMfreq:= 0 (off) or 1-125M (1-187.5M for the BCM2711).
PWMduty:= 0 (off) to 1000000 (1M)(fully on).
Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO,
PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ.
The same PWM channel is available on multiple GPIO.
The latest frequency and dutycycle setting will be used
by all GPIO which share a PWM channel.
The GPIO must be one of the following:
. .
12 PWM channel 0 All models but A and B
13 PWM channel 1 All models but A and B
18 PWM channel 0 All models
19 PWM channel 1 All models but A and B
40 PWM channel 0 Compute module only
41 PWM channel 1 Compute module only
45 PWM channel 1 Compute module only
52 PWM channel 0 Compute module only
53 PWM channel 1 Compute module only
. .
The actual number of steps beween off and fully on is the
integral part of 250M/PWMfreq (375M/PWMfreq for the BCM2711).
The actual frequency set is 250M/steps (375M/steps
for the BCM2711).
There will only be a million steps for a PWMfreq of 250
(375 for the BCM2711). Lower frequencies will have more
steps and higher frequencies will have fewer steps.
PWMduty is automatically scaled to take this into account.
...
pi.hardware_PWM(18, 800, 250000) # 800Hz 25% dutycycle
pi.hardware_PWM(18, 2000, 750000) # 2000Hz 75% dutycycle
...
"""
# pigpio message format
# I p1 gpio
# I p2 PWMfreq
# I p3 4
## extension ##
# I PWMdutycycle
extents = [struct.pack("I", PWMduty)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_HP, gpio, PWMfreq, 4, extents))
def get_current_tick(self):
"""
Returns the current system tick.
Tick is the number of microseconds since system boot. As an
unsigned 32 bit quantity tick wraps around approximately
every 71.6 minutes.
...
t1 = pi.get_current_tick()
time.sleep(1)
t2 = pi.get_current_tick()
...
"""
return _pigpio_command(self.sl, _PI_CMD_TICK, 0, 0)
def get_hardware_revision(self):
"""
Returns the Pi's hardware revision number.
The hardware revision is the last few characters on the
Revision line of /proc/cpuinfo.
The revision number can be used to determine the assignment
of GPIO to pins (see [*gpio*]).
There are at least three types of board.
Type 1 boards have hardware revision numbers of 2 and 3.
Type 2 boards have hardware revision numbers of 4, 5, 6, and 15.
Type 3 boards have hardware revision numbers of 16 or greater.
If the hardware revision can not be found or is not a valid
hexadecimal number the function returns 0.
...
print(pi.get_hardware_revision())
2
...
"""
return _pigpio_command(self.sl, _PI_CMD_HWVER, 0, 0)
def get_pigpio_version(self):
"""
Returns the pigpio software version.
...
v = pi.get_pigpio_version()
...
"""
return _pigpio_command(self.sl, _PI_CMD_PIGPV, 0, 0)
def wave_clear(self):
"""
Clears all waveforms and any data added by calls to the
[*wave_add_**] functions.
...
pi.wave_clear()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCLR, 0, 0))
def wave_add_new(self):
"""
Starts a new empty waveform.
You would not normally need to call this function as it is
automatically called after a waveform is created with the
[*wave_create*] function.
...
pi.wave_add_new()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVNEW, 0, 0))
def wave_add_generic(self, pulses):
"""
Adds a list of pulses to the current waveform.
pulses:= list of pulses to add to the waveform.
Returns the new total number of pulses in the current waveform.
The pulses are interleaved in time order within the existing
waveform (if any).
Merging allows the waveform to be built in parts, that is the
settings for GPIO#1 can be added, and then GPIO#2 etc.
If the added waveform is intended to start after or within
the existing waveform then the first pulse should consist
solely of a delay.
...
G1=4
G2=24
pi.set_mode(G1, pigpio.OUTPUT)
pi.set_mode(G2, pigpio.OUTPUT)
flash_500=[] # flash every 500 ms
flash_100=[] # flash every 100 ms
# ON OFF DELAY
flash_500.append(pigpio.pulse(1<<G1, 1<<G2, 500000))
flash_500.append(pigpio.pulse(1<<G2, 1<<G1, 500000))
flash_100.append(pigpio.pulse(1<<G1, 1<<G2, 100000))
flash_100.append(pigpio.pulse(1<<G2, 1<<G1, 100000))
pi.wave_clear() # clear any existing waveforms
pi.wave_add_generic(flash_500) # 500 ms flashes
f500 = pi.wave_create() # create and save id
pi.wave_add_generic(flash_100) # 100 ms flashes
f100 = pi.wave_create() # create and save id
pi.wave_send_repeat(f500)
time.sleep(4)
pi.wave_send_repeat(f100)
time.sleep(4)
pi.wave_send_repeat(f500)
time.sleep(4)
pi.wave_tx_stop() # stop waveform
pi.wave_clear() # clear all waveforms
...
"""
# pigpio message format
# I p1 0
# I p2 0
# I p3 pulses * 12
## extension ##
# III on/off/delay * pulses
if len(pulses):
ext = bytearray()
for p in pulses:
ext.extend(struct.pack("III", p.gpio_on, p.gpio_off, p.delay))
extents = [ext]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_WVAG, 0, 0, len(pulses)*12, extents))
else:
return 0
def wave_add_serial(
self, user_gpio, baud, data, offset=0, bb_bits=8, bb_stop=2):
"""
Adds a waveform representing serial data to the existing
waveform (if any). The serial data starts [*offset*]
microseconds from the start of the waveform.
user_gpio:= GPIO to transmit data. You must set the GPIO mode
to output.
baud:= 50-1000000 bits per second.
data:= the bytes to write.
offset:= number of microseconds from the start of the
waveform, default 0.
bb_bits:= number of data bits, default 8.
bb_stop:= number of stop half bits, default 2.
Returns the new total number of pulses in the current waveform.
The serial data is formatted as one start bit, [*bb_bits*]
data bits, and [*bb_stop*]/2 stop bits.
It is legal to add serial data streams with different baud
rates to the same waveform.
The bytes required for each character depend upon [*bb_bits*].
For [*bb_bits*] 1-8 there will be one byte per character.
For [*bb_bits*] 9-16 there will be two bytes per character.
For [*bb_bits*] 17-32 there will be four bytes per character.
...
pi.wave_add_serial(4, 300, 'Hello world')
pi.wave_add_serial(4, 300, b"Hello world")
pi.wave_add_serial(4, 300, b'\\x23\\x01\\x00\\x45')
pi.wave_add_serial(17, 38400, [23, 128, 234], 5000)
...
"""
# pigpio message format
# I p1 gpio
# I p2 baud
# I p3 len+12
## extension ##
# I bb_bits
# I bb_stop
# I offset
# s len data bytes
if len(data):
extents = [struct.pack("III", bb_bits, bb_stop, offset), data]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_WVAS, user_gpio, baud, len(data)+12, extents))
else:
return 0
def wave_create(self):
"""
Creates a waveform from the data provided by the prior calls
to the [*wave_add_**] functions.
Returns a wave id (>=0) if OK, otherwise PI_EMPTY_WAVEFORM,
PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
The data provided by the [*wave_add_**] functions is consumed by
this function.
As many waveforms may be created as there is space available.
The wave id is passed to [*wave_send_**] to specify the waveform
to transmit.
Normal usage would be
Step 1. [*wave_clear*] to clear all waveforms and added data.
Step 2. [*wave_add_**] calls to supply the waveform data.
Step 3. [*wave_create*] to create the waveform and get a unique id
Repeat steps 2 and 3 as needed.
Step 4. [*wave_send_**] with the id of the waveform to transmit.
A waveform comprises one or more pulses.
A pulse specifies
1) the GPIO to be switched on at the start of the pulse.
2) the GPIO to be switched off at the start of the pulse.
3) the delay in microseconds before the next pulse.
Any or all the fields can be zero. It doesn't make any sense
to set all the fields to zero (the pulse will be ignored).
When a waveform is started each pulse is executed in order with
the specified delay between the pulse and the next.
...
wid = pi.wave_create()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCRE, 0, 0))
def wave_create_and_pad(self, percent):
"""
This function creates a waveform like [*wave_create*] but pads the consumed
resources. Where percent gives the percentage of the resources to use
(in terms of the theoretical maximum, not the current amount free).
This allows the reuse of deleted waves while a transmission is active.
Upon success a wave id greater than or equal to 0 is returned, otherwise
PI_EMPTY_WAVEFORM, PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID.
. .
percent: 0-100, size of waveform as percentage of maximum available.
. .
The data provided by the [*wave_add_**] functions are consumed by this
function.
As many waveforms may be created as there is space available. The
wave id is passed to [*wave_send_**] to specify the waveform to transmit.
A usage would be the creation of two waves where one is filled while the
other is being transmitted. Each wave is assigned 50% of the resources.
This buffer structure allows the transmission of infinite wave sequences.
Normal usage:
Step 1. [*wave_clear*] to clear all waveforms and added data.
Step 2. [*wave_add_**] calls to supply the waveform data.
Step 3. [*wave_create_and_pad*] to create a waveform of uniform size.
Step 4. [*wave_send_**] with the id of the waveform to transmit.
Repeat steps 2-4 as needed.
Step 5. Any wave id can now be deleted and another wave of the same size
can be created in its place.
...
wid = pi.wave_create_and_pad(50)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCAP, percent, 0))
def wave_delete(self, wave_id):
"""
This function deletes the waveform with id wave_id.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Wave ids are allocated in order, 0, 1, 2, etc.
The wave is flagged for deletion. The resources used by the wave
will only be reused when either of the following apply.
- all waves with higher numbered wave ids have been deleted or have
been flagged for deletion.
- a new wave is created which uses exactly the same resources as
the current wave (see the C source for gpioWaveCreate for details).
...
pi.wave_delete(6) # delete waveform with id 6
pi.wave_delete(0) # delete waveform with id 0
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVDEL, wave_id, 0))
def wave_tx_start(self): # DEPRECATED
"""
This function is deprecated and has been removed.
Use [*wave_create*]/[*wave_send_**] instead.
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0))
def wave_tx_repeat(self): # DEPRECATED
"""
This function is deprecated and has beeen removed.
Use [*wave_create*]/[*wave_send_**] instead.
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0))
def wave_send_once(self, wave_id):
"""
Transmits the waveform with id wave_id. The waveform is sent
once.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Returns the number of DMA control blocks used in the waveform.
...
cbs = pi.wave_send_once(wid)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTX, wave_id, 0))
def wave_send_repeat(self, wave_id):
"""
Transmits the waveform with id wave_id. The waveform repeats
until wave_tx_stop is called or another call to [*wave_send_**]
is made.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Returns the number of DMA control blocks used in the waveform.
...
cbs = pi.wave_send_repeat(wid)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXR, wave_id, 0))
def wave_send_using_mode(self, wave_id, mode):
"""
Transmits the waveform with id wave_id using mode mode.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
mode:= WAVE_MODE_ONE_SHOT, WAVE_MODE_REPEAT,
WAVE_MODE_ONE_SHOT_SYNC, or WAVE_MODE_REPEAT_SYNC.
WAVE_MODE_ONE_SHOT: same as [*wave_send_once*].
WAVE_MODE_REPEAT same as [*wave_send_repeat*].
WAVE_MODE_ONE_SHOT_SYNC same as [*wave_send_once*] but tries
to sync with the previous waveform.
WAVE_MODE_REPEAT_SYNC same as [*wave_send_repeat*] but tries
to sync with the previous waveform.
WARNING: bad things may happen if you delete the previous
waveform before it has been synced to the new waveform.
NOTE: Any hardware PWM started by [*hardware_PWM*] will
be cancelled.
wave_id:= >=0 (as returned by a prior call to [*wave_create*]).
Returns the number of DMA control blocks used in the waveform.
...
cbs = pi.wave_send_using_mode(wid, WAVE_MODE_REPEAT_SYNC)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXM, wave_id, mode))
def wave_tx_at(self):
"""
Returns the id of the waveform currently being
transmitted using [*wave_send**]. Chained waves are not supported.
Returns the waveform id or one of the following special
values:
WAVE_NOT_FOUND (9998) - transmitted wave not found.
NO_TX_WAVE (9999) - no wave being transmitted.
...
wid = pi.wave_tx_at()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTAT, 0, 0))
def wave_tx_busy(self):
"""
Returns 1 if a waveform is currently being transmitted,
otherwise 0.
...
pi.wave_send_once(0) # send first waveform
while pi.wave_tx_busy(): # wait for waveform to be sent
time.sleep(0.1)
pi.wave_send_once(1) # send next waveform
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVBSY, 0, 0))
def wave_tx_stop(self):
"""
Stops the transmission of the current waveform.
This function is intended to stop a waveform started with
wave_send_repeat.
...
pi.wave_send_repeat(3)
time.sleep(5)
pi.wave_tx_stop()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVHLT, 0, 0))
def wave_chain(self, data):
"""
This function transmits a chain of waveforms.
NOTE: Any hardware PWM started by [*hardware_PWM*]
will be cancelled.
The waves to be transmitted are specified by the contents
of data which contains an ordered list of [*wave_id*]s
and optional command codes and related data.
Returns 0 if OK, otherwise PI_CHAIN_NESTING,
PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD,
PI_CHAIN_COUNTER, PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG,
or PI_BAD_WAVE_ID.
Each wave is transmitted in the order specified. A wave
may occur multiple times per chain.
A blocks of waves may be transmitted multiple times by
using the loop commands. The block is bracketed by loop
start and end commands. Loops may be nested.
Delays between waves may be added with the delay command.
The following command codes are supported:
Name @ Cmd & Data @ Meaning
Loop Start @ 255 0 @ Identify start of a wave block
Loop Repeat @ 255 1 x y @ loop x + y*256 times
Delay @ 255 2 x y @ delay x + y*256 microseconds
Loop Forever @ 255 3 @ loop forever
If present Loop Forever must be the last entry in the chain.
The code is currently dimensioned to support a chain with
roughly 600 entries and 20 loop counters.
...
#!/usr/bin/env python
import time
import pigpio
WAVES=5
GPIO=4
wid=[0]*WAVES
pi = pigpio.pi() # Connect to local Pi.
pi.set_mode(GPIO, pigpio.OUTPUT);
for i in range(WAVES):
pi.wave_add_generic([
pigpio.pulse(1<<GPIO, 0, 20),
pigpio.pulse(0, 1<<GPIO, (i+1)*200)]);
wid[i] = pi.wave_create();
pi.wave_chain([
wid[4], wid[3], wid[2], # transmit waves 4+3+2
255, 0, # loop start
wid[0], wid[0], wid[0], # transmit waves 0+0+0
255, 0, # loop start
wid[0], wid[1], # transmit waves 0+1
255, 2, 0x88, 0x13, # delay 5000us
255, 1, 30, 0, # loop end (repeat 30 times)
255, 0, # loop start
wid[2], wid[3], wid[0], # transmit waves 2+3+0
wid[3], wid[1], wid[2], # transmit waves 3+1+2
255, 1, 10, 0, # loop end (repeat 10 times)
255, 1, 5, 0, # loop end (repeat 5 times)
wid[4], wid[4], wid[4], # transmit waves 4+4+4
255, 2, 0x20, 0x4E, # delay 20000us
wid[0], wid[0], wid[0], # transmit waves 0+0+0
])
while pi.wave_tx_busy():
time.sleep(0.1);
for i in range(WAVES):
pi.wave_delete(wid[i])
pi.stop()
...
"""
# I p1 0
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_WVCHA, 0, 0, len(data), [data]))
def wave_get_micros(self):
"""
Returns the length in microseconds of the current waveform.
...
micros = pi.wave_get_micros()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSM, 0, 0))
def wave_get_max_micros(self):
"""
Returns the maximum possible size of a waveform in microseconds.
...
micros = pi.wave_get_max_micros()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSM, 2, 0))
def wave_get_pulses(self):
"""
Returns the length in pulses of the current waveform.
...
pulses = pi.wave_get_pulses()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSP, 0, 0))
def wave_get_max_pulses(self):
"""
Returns the maximum possible size of a waveform in pulses.
...
pulses = pi.wave_get_max_pulses()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSP, 2, 0))
def wave_get_cbs(self):
"""
Returns the length in DMA control blocks of the current
waveform.
...
cbs = pi.wave_get_cbs()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSC, 0, 0))
def wave_get_max_cbs(self):
"""
Returns the maximum possible size of a waveform in DMA
control blocks.
...
cbs = pi.wave_get_max_cbs()
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_WVSC, 2, 0))
def i2c_open(self, i2c_bus, i2c_address, i2c_flags=0):
"""
Returns a handle (>=0) for the device at the I2C bus address.
i2c_bus:= >=0.
i2c_address:= 0-0x7F.
i2c_flags:= 0, no flags are currently defined.
Physically buses 0 and 1 are available on the Pi. Higher
numbered buses will be available if a kernel supported bus
multiplexor is being used.
The GPIO used are given in the following table.
@ SDA @ SCL
I2C 0 @ 0 @ 1
I2C 1 @ 2 @ 3
For the SMBus commands the low level transactions are shown
at the end of the function description. The following
abbreviations are used:
. .
S (1 bit) : Start bit
P (1 bit) : Stop bit
Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0.
A, NA (1 bit) : Accept and not accept bit.
Addr (7 bits): I2C 7 bit address.
reg (8 bits): Command byte, which often selects a register.
Data (8 bits): A data byte.
Count (8 bits): A byte defining the length of a block operation.
[..]: Data sent by the device.
. .
...
h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1
...
"""
# I p1 i2c_bus
# I p2 i2c_addr
# I p3 4
## extension ##
# I i2c_flags
extents = [struct.pack("I", i2c_flags)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CO, i2c_bus, i2c_address, 4, extents))
def i2c_close(self, handle):
"""
Closes the I2C device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
...
pi.i2c_close(h)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CC, handle, 0))
def i2c_write_quick(self, handle, bit):
"""
Sends a single bit to the device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
bit:= 0 or 1, the value to write.
SMBus 2.0 5.5.1 - Quick command.
. .
S Addr bit [A] P
. .
...
pi.i2c_write_quick(0, 1) # send 1 to device 0
pi.i2c_write_quick(3, 0) # send 0 to device 3
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CWQ, handle, bit))
def i2c_write_byte(self, handle, byte_val):
"""
Sends a single byte to the device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
byte_val:= 0-255, the value to write.
SMBus 2.0 5.5.2 - Send byte.
. .
S Addr Wr [A] byte_val [A] P
. .
...
pi.i2c_write_byte(1, 17) # send byte 17 to device 1
pi.i2c_write_byte(2, 0x23) # send byte 0x23 to device 2
...
"""
return _u2i(
_pigpio_command(self.sl, _PI_CMD_I2CWS, handle, byte_val))
def i2c_read_byte(self, handle):
"""
Reads a single byte from the device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
SMBus 2.0 5.5.3 - Receive byte.
. .
S Addr Rd [A] [Data] NA P
. .
...
b = pi.i2c_read_byte(2) # read a byte from device 2
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRS, handle, 0))
def i2c_write_byte_data(self, handle, reg, byte_val):
"""
Writes a single byte to the specified register of the device
associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
byte_val:= 0-255, the value to write.
SMBus 2.0 5.5.4 - Write byte.
. .
S Addr Wr [A] reg [A] byte_val [A] P
. .
...
# send byte 0xC5 to reg 2 of device 1
pi.i2c_write_byte_data(1, 2, 0xC5)
# send byte 9 to reg 4 of device 2
pi.i2c_write_byte_data(2, 4, 9)
...
"""
# I p1 handle
# I p2 reg
# I p3 4
## extension ##
# I byte_val
extents = [struct.pack("I", byte_val)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CWB, handle, reg, 4, extents))
def i2c_write_word_data(self, handle, reg, word_val):
"""
Writes a single 16 bit word to the specified register of the
device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
word_val:= 0-65535, the value to write.
SMBus 2.0 5.5.4 - Write word.
. .
S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] P
. .
...
# send word 0xA0C5 to reg 5 of device 4
pi.i2c_write_word_data(4, 5, 0xA0C5)
# send word 2 to reg 2 of device 5
pi.i2c_write_word_data(5, 2, 23)
...
"""
# I p1 handle
# I p2 reg
# I p3 4
## extension ##
# I word_val
extents = [struct.pack("I", word_val)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CWW, handle, reg, 4, extents))
def i2c_read_byte_data(self, handle, reg):
"""
Reads a single byte from the specified register of the device
associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
SMBus 2.0 5.5.5 - Read byte.
. .
S Addr Wr [A] reg [A] S Addr Rd [A] [Data] NA P
. .
...
# read byte from reg 17 of device 2
b = pi.i2c_read_byte_data(2, 17)
# read byte from reg 1 of device 0
b = pi.i2c_read_byte_data(0, 1)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRB, handle, reg))
def i2c_read_word_data(self, handle, reg):
"""
Reads a single 16 bit word from the specified register of the
device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
SMBus 2.0 5.5.5 - Read word.
. .
S Addr Wr [A] reg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
...
# read word from reg 2 of device 3
w = pi.i2c_read_word_data(3, 2)
# read word from reg 7 of device 2
w = pi.i2c_read_word_data(2, 7)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRW, handle, reg))
def i2c_process_call(self, handle, reg, word_val):
"""
Writes 16 bits of data to the specified register of the device
associated with handle and reads 16 bits of data in return.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
word_val:= 0-65535, the value to write.
SMBus 2.0 5.5.6 - Process call.
. .
S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A]
S Addr Rd [A] [DataLow] A [DataHigh] NA P
. .
...
r = pi.i2c_process_call(h, 4, 0x1231)
r = pi.i2c_process_call(h, 6, 0)
...
"""
# I p1 handle
# I p2 reg
# I p3 4
## extension ##
# I word_val
extents = [struct.pack("I", word_val)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CPC, handle, reg, 4, extents))
def i2c_write_block_data(self, handle, reg, data):
"""
Writes up to 32 bytes to the specified register of the device
associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
data:= the bytes to write.
SMBus 2.0 5.5.7 - Block write.
. .
S Addr Wr [A] reg [A] len(data) [A] data0 [A] data1 [A] ... [A]
datan [A] P
. .
...
pi.i2c_write_block_data(4, 5, b'hello')
pi.i2c_write_block_data(4, 5, "data bytes")
pi.i2c_write_block_data(5, 0, b'\\x00\\x01\\x22')
pi.i2c_write_block_data(6, 2, [0, 1, 0x22])
...
"""
# I p1 handle
# I p2 reg
# I p3 len
## extension ##
# s len data bytes
if len(data):
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CWK, handle, reg, len(data), [data]))
else:
return 0
def i2c_read_block_data(self, handle, reg):
"""
Reads a block of up to 32 bytes from the specified register of
the device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
SMBus 2.0 5.5.7 - Block read.
. .
S Addr Wr [A] reg [A]
S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P
. .
The amount of returned data is set by the device.
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.i2c_read_block_data(h, 10)
if b >= 0:
# process data
else:
# process read failure
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_nolock(
self.sl, _PI_CMD_I2CRK, handle, reg))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def i2c_block_process_call(self, handle, reg, data):
"""
Writes data bytes to the specified register of the device
associated with handle and reads a device specified number
of bytes of data in return.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
data:= the bytes to write.
The SMBus 2.0 documentation states that a minimum of 1 byte may
be sent and a minimum of 1 byte may be received. The total
number of bytes sent/received must be 32 or less.
SMBus 2.0 5.5.8 - Block write-block read.
. .
S Addr Wr [A] reg [A] len(data) [A] data0 [A] ... datan [A]
S Addr Rd [A] [Count] A [Data] ... A P
. .
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.i2c_block_process_call(h, 10, b'\\x02\\x05\\x00')
(b, d) = pi.i2c_block_process_call(h, 10, b'abcdr')
(b, d) = pi.i2c_block_process_call(h, 10, "abracad")
(b, d) = pi.i2c_block_process_call(h, 10, [2, 5, 16])
...
"""
# I p1 handle
# I p2 reg
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def i2c_write_i2c_block_data(self, handle, reg, data):
"""
Writes data bytes to the specified register of the device
associated with handle . 1-32 bytes may be written.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
data:= the bytes to write.
. .
S Addr Wr [A] reg [A] data0 [A] data1 [A] ... [A] datan [NA] P
. .
...
pi.i2c_write_i2c_block_data(4, 5, 'hello')
pi.i2c_write_i2c_block_data(4, 5, b'hello')
pi.i2c_write_i2c_block_data(5, 0, b'\\x00\\x01\\x22')
pi.i2c_write_i2c_block_data(6, 2, [0, 1, 0x22])
...
"""
# I p1 handle
# I p2 reg
# I p3 len
## extension ##
# s len data bytes
if len(data):
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CWI, handle, reg, len(data), [data]))
else:
return 0
def i2c_read_i2c_block_data(self, handle, reg, count):
"""
Reads count bytes from the specified register of the device
associated with handle . The count may be 1-32.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
reg:= >=0, the device register.
count:= >0, the number of bytes to read.
. .
S Addr Wr [A] reg [A]
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
. .
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.i2c_read_i2c_block_data(h, 4, 32)
if b >= 0:
# process data
else:
# process read failure
...
"""
# I p1 handle
# I p2 reg
# I p3 4
## extension ##
# I count
extents = [struct.pack("I", count)]
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def i2c_read_device(self, handle, count):
"""
Returns count bytes read from the raw device associated
with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
count:= >0, the number of bytes to read.
. .
S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P
. .
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(count, data) = pi.i2c_read_device(h, 12)
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(
_pigpio_command_nolock(self.sl, _PI_CMD_I2CRD, handle, count))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def i2c_write_device(self, handle, data):
"""
Writes the data bytes to the raw device associated with handle.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
data:= the bytes to write.
. .
S Addr Wr [A] data0 [A] data1 [A] ... [A] datan [A] P
. .
...
pi.i2c_write_device(h, b"\\x12\\x34\\xA8")
pi.i2c_write_device(h, b"help")
pi.i2c_write_device(h, 'help')
pi.i2c_write_device(h, [23, 56, 231])
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
if len(data):
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_I2CWD, handle, 0, len(data), [data]))
else:
return 0
def i2c_zip(self, handle, data):
"""
This function executes a sequence of I2C operations. The
operations to be performed are specified by the contents of data
which contains the concatenated command codes and associated data.
handle:= >=0 (as returned by a prior call to [*i2c_open*]).
data:= the concatenated I2C commands, see below
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(count, data) = pi.i2c_zip(h, [4, 0x53, 7, 1, 0x32, 6, 6, 0])
...
The following command codes are supported:
Name @ Cmd & Data @ Meaning
End @ 0 @ No more commands
Escape @ 1 @ Next P is two bytes
On @ 2 @ Switch combined flag on
Off @ 3 @ Switch combined flag off
Address @ 4 P @ Set I2C address to P
Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8)
Read @ 6 P @ Read P bytes of data
Write @ 7 P ... @ Write P bytes of data
The address, read, and write commands take a parameter P.
Normally P is one byte (0-255). If the command is preceded by
the Escape command then P is two bytes (0-65535, least significant
byte first).
The address defaults to that associated with the handle.
The flags default to 0. The address and flags maintain their
previous value until updated.
Any read I2C data is concatenated in the returned bytearray.
...
Set address 0x53, write 0x32, read 6 bytes
Set address 0x1E, write 0x03, read 6 bytes
Set address 0x68, write 0x1B, read 8 bytes
End
0x04 0x53 0x07 0x01 0x32 0x06 0x06
0x04 0x1E 0x07 0x01 0x03 0x06 0x06
0x04 0x68 0x07 0x01 0x1B 0x06 0x08
0x00
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_I2CZ, handle, 0, len(data), [data]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def bb_spi_open(self, CS, MISO, MOSI, SCLK, baud=100000, spi_flags=0):
"""
This function selects a set of GPIO for bit banging SPI at a
specified baud rate.
CS := 0-31
MISO := 0-31
MOSI := 0-31
SCLK := 0-31
baud := 50-250000
spiFlags := see below
spiFlags consists of the least significant 22 bits.
. .
21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m
. .
mm defines the SPI mode, defaults to 0
. .
Mode CPOL CPHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
The following constants may be used to set the mode:
. .
pigpio.SPI_MODE_0
pigpio.SPI_MODE_1
pigpio.SPI_MODE_2
pigpio.SPI_MODE_3
. .
Alternatively pigpio.SPI_CPOL and/or pigpio.SPI_CPHA
may be used.
p is 0 if CS is active low (default) and 1 for active high.
pigpio.SPI_CS_HIGH_ACTIVE may be used to set this flag.
T is 1 if the least significant bit is transmitted on MOSI first,
the default (0) shifts the most significant bit out first.
pigpio.SPI_TX_LSBFIRST may be used to set this flag.
R is 1 if the least significant bit is received on MISO first,
the default (0) receives the most significant bit first.
pigpio.SPI_RX_LSBFIRST may be used to set this flag.
The other bits in spiFlags should be set to zero.
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or
PI_GPIO_IN_USE.
If more than one device is connected to the SPI bus (defined by
SCLK, MOSI, and MISO) each must have its own CS.
...
bb_spi_open(10, MISO, MOSI, SCLK, 10000, 0); // device 1
bb_spi_open(11, MISO, MOSI, SCLK, 20000, 3); // device 2
...
"""
# I p1 CS
# I p2 0
# I p3 20
## extension ##
# I MISO
# I MOSI
# I SCLK
# I baud
# I spi_flags
extents = [struct.pack("IIIII", MISO, MOSI, SCLK, baud, spi_flags)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_BSPIO, CS, 0, 20, extents))
def bb_spi_close(self, CS):
"""
This function stops bit banging SPI on a set of GPIO
opened with [*bb_spi_open*].
CS:= 0-31, the CS GPIO used in a prior call to [*bb_spi_open*]
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO.
...
pi.bb_spi_close(CS)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BSPIC, CS, 0))
def bb_spi_xfer(self, CS, data):
"""
This function executes a bit banged SPI transfer.
CS:= 0-31 (as used in a prior call to [*bb_spi_open*])
data:= data to be sent
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
#!/usr/bin/env python
import pigpio
CE0=5
CE1=6
MISO=13
MOSI=19
SCLK=12
pi = pigpio.pi()
if not pi.connected:
exit()
pi.bb_spi_open(CE0, MISO, MOSI, SCLK, 10000, 0) # MCP4251 DAC
pi.bb_spi_open(CE1, MISO, MOSI, SCLK, 20000, 3) # MCP3008 ADC
for i in range(256):
count, data = pi.bb_spi_xfer(CE0, [0, i]) # Set DAC value
if count == 2:
count, data = pi.bb_spi_xfer(CE0, [12, 0]) # Read back DAC
if count == 2:
set_val = data[1]
count, data = pi.bb_spi_xfer(CE1, [1, 128, 0]) # Read ADC
if count == 3:
read_val = ((data[1]&3)<<8) | data[2]
print("{} {}".format(set_val, read_val))
pi.bb_spi_close(CE0)
pi.bb_spi_close(CE1)
pi.stop()
...
"""
# I p1 CS
# I p2 0
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_BSPIX, CS, 0, len(data), [data]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def bb_i2c_open(self, SDA, SCL, baud=100000):
"""
This function selects a pair of GPIO for bit banging I2C at a
specified baud rate.
Bit banging I2C allows for certain operations which are not possible
with the standard I2C driver.
o baud rates as low as 50
o repeated starts
o clock stretching
o I2C on any pair of spare GPIO
SDA:= 0-31
SCL:= 0-31
baud:= 50-500000
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or
PI_GPIO_IN_USE.
NOTE:
The GPIO used for SDA and SCL must have pull-ups to 3V3 connected.
As a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value.
...
h = pi.bb_i2c_open(4, 5, 50000) # bit bang on GPIO 4/5 at 50kbps
...
"""
# I p1 SDA
# I p2 SCL
# I p3 4
## extension ##
# I baud
extents = [struct.pack("I", baud)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_BI2CO, SDA, SCL, 4, extents))
def bb_i2c_close(self, SDA):
"""
This function stops bit banging I2C on a pair of GPIO
previously opened with [*bb_i2c_open*].
SDA:= 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*]
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO.
...
pi.bb_i2c_close(SDA)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_BI2CC, SDA, 0))
def bb_i2c_zip(self, SDA, data):
"""
This function executes a sequence of bit banged I2C operations.
The operations to be performed are specified by the contents
of data which contains the concatenated command codes and
associated data.
SDA:= 0-31 (as used in a prior call to [*bb_i2c_open*])
data:= the concatenated I2C commands, see below
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(count, data) = pi.bb_i2c_zip(
SDA, [4, 0x53, 2, 7, 1, 0x32, 2, 6, 6, 3, 0])
...
The following command codes are supported:
Name @ Cmd & Data @ Meaning
End @ 0 @ No more commands
Escape @ 1 @ Next P is two bytes
Start @ 2 @ Start condition
Stop @ 3 @ Stop condition
Address @ 4 P @ Set I2C address to P
Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8)
Read @ 6 P @ Read P bytes of data
Write @ 7 P ... @ Write P bytes of data
The address, read, and write commands take a parameter P.
Normally P is one byte (0-255). If the command is preceded by
the Escape command then P is two bytes (0-65535, least significant
byte first).
The address and flags default to 0. The address and flags maintain
their previous value until updated.
No flags are currently defined.
Any read I2C data is concatenated in the returned bytearray.
...
Set address 0x53
start, write 0x32, (re)start, read 6 bytes, stop
Set address 0x1E
start, write 0x03, (re)start, read 6 bytes, stop
Set address 0x68
start, write 0x1B, (re)start, read 8 bytes, stop
End
0x04 0x53
0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03
0x04 0x1E
0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03
0x04 0x68
0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03
0x00
...
"""
# I p1 SDA
# I p2 0
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_BI2CZ, SDA, 0, len(data), [data]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def event_trigger(self, event):
"""
This function signals the occurrence of an event.
event:= 0-31, the event
Returns 0 if OK, otherwise PI_BAD_EVENT_ID.
An event is a signal used to inform one or more consumers
to start an action. Each consumer which has registered an
interest in the event (e.g. by calling [*event_callback*]) will
be informed by a callback.
One event, EVENT_BSC (31) is predefined. This event is
auto generated on BSC slave activity.
The meaning of other events is arbitrary.
Note that other than its id and its tick there is no data associated
with an event.
...
pi.event_trigger(23)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_EVT, event, 0))
def bsc_xfer(self, bsc_control, data):
"""
This function provides a low-level interface to the SPI/I2C Slave
peripheral on the BCM chip.
This peripheral allows the Pi to act as a hardware slave device
on an I2C or SPI bus.
This is not a bit bang version and as such is OS timing
independent. The bus timing is handled directly by the chip.
The output process is simple. You simply append data to the FIFO
buffer on the chip. This works like a queue, you add data to the
queue and the master removes it.
The function sets the BSC mode, writes any data in
the transmit buffer to the BSC transmit FIFO, and
copies any data in the BSC receive FIFO to the
receive buffer.
bsc_control:= see below
data:= the data bytes to place in the transmit FIFO.
The returned value is a tuple of the status (see below),
the number of bytes read, and a bytearray containing the
read bytes. If there was an error the status will be less
than zero (and will contain the error code).
Note that the control word sets the BSC mode. The BSC will
stay in that mode until a different control word is sent.
GPIO used for models other than those based on the BCM2711.
@ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE
I2C @ 18 @ 19 @ - @ - @ - @ -
SPI @ - @ - @ 20 @ 19 @ 18 @ 21
GPIO used for models based on the BCM2711 (e.g. the Pi4B).
@ SDA @ SCL @ MOSI @ SCLK @ MISO @ CE
I2C @ 10 @ 11 @ - @ - @ - @ -
SPI @ - @ - @ 9 @ 11 @ 10 @ 8
When a zero control word is received the used GPIO will be reset
to INPUT mode.
bsc_control consists of the following bits:
. .
22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
a a a a a a a - - IT HC TF IR RE TE BK EC ES PL PH I2 SP EN
. .
Bits 0-13 are copied unchanged to the BSC CR register. See
pages 163-165 of the Broadcom peripherals document for full
details.
aaaaaaa @ defines the I2C slave address (only relevant in I2C mode)
IT @ invert transmit status flags
HC @ enable host control
TF @ enable test FIFO
IR @ invert receive status flags
RE @ enable receive
TE @ enable transmit
BK @ abort operation and clear FIFOs
EC @ send control register as first I2C byte
ES @ send status register as first I2C byte
PL @ set SPI polarity high
PH @ set SPI phase high
I2 @ enable I2C mode
SP @ enable SPI mode
EN @ enable BSC peripheral
The status has the following format:
. .
20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
S S S S S R R R R R T T T T T RB TE RF TF RE TB
. .
Bits 0-15 are copied unchanged from the BSC FR register. See
pages 165-166 of the Broadcom peripherals document for full
details.
SSSSS @ number of bytes successfully copied to transmit FIFO
RRRRR @ number of bytes in receive FIFO
TTTTT @ number of bytes in transmit FIFO
RB @ receive busy
TE @ transmit FIFO empty
RF @ receive FIFO full
TF @ transmit FIFO full
RE @ receive FIFO empty
TB @ transmit busy
...
(status, count, data) = pi.bsc_xfer(0x330305, "Hello!")
...
The BSC slave in SPI mode deserializes data from the MOSI pin into its
receiver/FIFO when the LSB of the first byte is a 0. No data is output on
the MISO pin. When the LSB of the first byte on MOSI is a 1, the
transmitter/FIFO data is serialized onto the MISO pin while all other data
on the MOSI pin is ignored.
The BK bit of the BSC control register is non-functional when in the SPI
mode. The transmitter along with its FIFO can be dequeued by successively
disabling and re-enabling the TE bit on the BSC control register while in
SPI mode.
This example demonstrates a SPI master talking to the BSC as SPI slave:
Requires SPI master SCLK / MOSI / MISO / CE GPIO are connected to
BSC peripheral GPIO 11 / 9 / 10 / 8 respectively, on a Pi4B (BCM2711).
...
#!/usr/bin/env python
import pigpio
# Choose some random GPIO for the bit-bang SPI master
CE=15
MISO=26
MOSI=13
SCLK=14
pi = pigpio.pi()
if not pi.connected:
exit()
pi.bb_spi_open(CE, MISO, MOSI, SCLK, 10000, 0) # open SPI master
pi.bsc_xfer(0x303, []) # start BSC as SPI slave
pi.bb_spi_xfer(CE, '\0' + 'hello') # write 'hello' to BSC
status, count, bsc_data = pi.bsc_xfer(0x303, 'world')
print bsc_data # hello
count, spi_data = pi.bb_spi_xfer(CE, [1,0,0,0,0,0])
print spi_data # world
pi.bsc_xfer(0, [])
pi.bb_spi_close(CE)
pi.stop()
...
"""
# I p1 control
# I p2 0
# I p3 len
## extension ##
# s len data bytes
status = PI_CMD_INTERRUPTED
bytes = 0
rdata = bytearray(b'')
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_BSCX, bsc_control, 0, len(data), [data]))
if bytes > 0:
rx = self._rxbuf(bytes)
status = struct.unpack('I', rx[0:4])[0]
bytes -= 4
rdata = rx[4:]
else:
status = bytes
bytes = 0
return status, bytes, rdata
def bsc_i2c(self, i2c_address, data=[]):
"""
This function allows the Pi to act as a slave I2C device.
The data bytes (if any) are written to the BSC transmit
FIFO and the bytes in the BSC receive FIFO are returned.
i2c_address:= the I2C slave address.
data:= the data bytes to transmit.
The returned value is a tuple of the status, the number
of bytes read, and a bytearray containing the read bytes.
See [*bsc_xfer*] for details of the status value.
If there was an error the status will be less than zero
(and will contain the error code).
Note that an i2c_address of 0 may be used to close
the BSC device and reassign the used GPIO as inputs.
This example assumes GPIO 2/3 are connected to GPIO 18/19
(GPIO 10/11 on the BCM2711).
...
#!/usr/bin/env python
import time
import pigpio
I2C_ADDR=0x13
def i2c(id, tick):
global pi
s, b, d = pi.bsc_i2c(I2C_ADDR)
if b:
if d[0] == ord('t'): # 116 send 'HH:MM:SS*'
print("sent={} FR={} received={} [{}]".
format(s>>16, s&0xfff,b,d))
s, b, d = pi.bsc_i2c(I2C_ADDR,
"{}*".format(time.asctime()[11:19]))
elif d[0] == ord('d'): # 100 send 'Sun Oct 30*'
print("sent={} FR={} received={} [{}]".
format(s>>16, s&0xfff,b,d))
s, b, d = pi.bsc_i2c(I2C_ADDR,
"{}*".format(time.asctime()[:10]))
pi = pigpio.pi()
if not pi.connected:
exit()
# Respond to BSC slave activity
e = pi.event_callback(pigpio.EVENT_BSC, i2c)
pi.bsc_i2c(I2C_ADDR) # Configure BSC as I2C slave
time.sleep(600)
e.cancel()
pi.bsc_i2c(0) # Disable BSC peripheral
pi.stop()
...
While running the above.
. .
$ i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- 13 -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
$ pigs i2co 1 0x13 0
0
$ pigs i2cwd 0 116
$ pigs i2crd 0 9 -a
9 10:13:58*
$ pigs i2cwd 0 116
$ pigs i2crd 0 9 -a
9 10:14:29*
$ pigs i2cwd 0 100
$ pigs i2crd 0 11 -a
11 Sun Oct 30*
$ pigs i2cwd 0 100
$ pigs i2crd 0 11 -a
11 Sun Oct 30*
$ pigs i2cwd 0 116
$ pigs i2crd 0 9 -a
9 10:23:16*
$ pigs i2cwd 0 100
$ pigs i2crd 0 11 -a
11 Sun Oct 30*
. .
"""
if i2c_address:
control = (i2c_address<<16)|0x305
else:
control = 0
return self.bsc_xfer(control, data)
def spi_open(self, spi_channel, baud, spi_flags=0):
"""
Returns a handle for the SPI device on the channel. Data
will be transferred at baud bits per second. The flags
may be used to modify the default behaviour of 4-wire
operation, mode 0, active low chip select.
The Pi has two SPI peripherals: main and auxiliary.
The main SPI has two chip selects (channels), the auxiliary
has three.
The auxiliary SPI is available on all models but the A and B.
The GPIO used are given in the following table.
@ MISO @ MOSI @ SCLK @ CE0 @ CE1 @ CE2
Main SPI @ 9 @ 10 @ 11 @ 8 @ 7 @ -
Aux SPI @ 19 @ 20 @ 21 @ 18 @ 17 @ 16
spi_channel:= 0-1 (0-2 for the auxiliary SPI).
baud:= 32K-125M (values above 30M are unlikely to work).
spi_flags:= see below.
spi_flags consists of the least significant 22 bits.
. .
21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m
. .
mm defines the SPI mode.
WARNING: modes 1 and 3 do not appear to work on
the auxiliary SPI.
. .
Mode POL PHA
0 0 0
1 0 1
2 1 0
3 1 1
. .
px is 0 if CEx is active low (default) and 1 for active high.
ux is 0 if the CEx GPIO is reserved for SPI (default)
and 1 otherwise.
A is 0 for the main SPI, 1 for the auxiliary SPI.
W is 0 if the device is not 3-wire, 1 if the device is 3-wire.
Main SPI only.
nnnn defines the number of bytes (0-15) to write before
switching the MOSI line to MISO to read data. This field
is ignored if W is not set. Main SPI only.
T is 1 if the least significant bit is transmitted on MOSI
first, the default (0) shifts the most significant bit out
first. Auxiliary SPI only.
R is 1 if the least significant bit is received on MISO
first, the default (0) receives the most significant bit
first. Auxiliary SPI only.
bbbbbb defines the word size in bits (0-32). The default (0)
sets 8 bits per word. Auxiliary SPI only.
The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions
transfer data packed into 1, 2, or 4 bytes according to
the word size in bits.
For bits 1-8 there will be one byte per character.
For bits 9-16 there will be two bytes per character.
For bits 17-32 there will be four bytes per character.
Multi-byte transfers are made in least significant byte
first order.
E.g. to transfer 32 11-bit words data should
contain 64 bytes.
E.g. to transfer the 14 bit value 0x1ABC send the
bytes 0xBC followed by 0x1A.
The other bits in flags should be set to zero.
...
# open SPI device on channel 1 in mode 3 at 50000 bits per second
h = pi.spi_open(1, 50000, 3)
...
"""
# I p1 spi_channel
# I p2 baud
# I p3 4
## extension ##
# I spi_flags
extents = [struct.pack("I", spi_flags)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SPIO, spi_channel, baud, 4, extents))
def spi_close(self, handle):
"""
Closes the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to [*spi_open*]).
...
pi.spi_close(h)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SPIC, handle, 0))
def spi_read(self, handle, count):
"""
Reads count bytes from the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to [*spi_open*]).
count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.spi_read(h, 60) # read 60 bytes from device h
if b == 60:
# process read data
else:
# error path
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_nolock(
self.sl, _PI_CMD_SPIR, handle, count))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def spi_write(self, handle, data):
"""
Writes the data bytes to the SPI device associated with handle.
handle:= >=0 (as returned by a prior call to [*spi_open*]).
data:= the bytes to write.
...
pi.spi_write(0, b'\\x02\\xc0\\x80') # write 3 bytes to device 0
pi.spi_write(0, b'defgh') # write 5 bytes to device 0
pi.spi_write(0, "def") # write 3 bytes to device 0
pi.spi_write(1, [2, 192, 128]) # write 3 bytes to device 1
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SPIW, handle, 0, len(data), [data]))
def spi_xfer(self, handle, data):
"""
Writes the data bytes to the SPI device associated with handle,
returning the data bytes read from the device.
handle:= >=0 (as returned by a prior call to [*spi_open*]).
data:= the bytes to write.
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(count, rx_data) = pi.spi_xfer(h, b'\\x01\\x80\\x00')
(count, rx_data) = pi.spi_xfer(h, [1, 128, 0])
(count, rx_data) = pi.spi_xfer(h, b"hello")
(count, rx_data) = pi.spi_xfer(h, "hello")
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def serial_open(self, tty, baud, ser_flags=0):
"""
Returns a handle for the serial tty device opened
at baud bits per second. The device name must start
with /dev/tty or /dev/serial.
tty:= the serial device to open.
baud:= baud rate in bits per second, see below.
ser_flags:= 0, no flags are currently defined.
Normally you would only use the [*serial_**] functions if
you are or will be connecting to the Pi over a network. If
you will always run on the local Pi use the standard serial
module instead.
The baud rate must be one of 50, 75, 110, 134, 150,
200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200,
38400, 57600, 115200, or 230400.
...
h1 = pi.serial_open("/dev/ttyAMA0", 300)
h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0)
h3 = pi.serial_open("/dev/serial0", 9600)
...
"""
# I p1 baud
# I p2 ser_flags
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SERO, baud, ser_flags, len(tty), [tty]))
def serial_close(self, handle):
"""
Closes the serial device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
...
pi.serial_close(h1)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SERC, handle, 0))
def serial_read_byte(self, handle):
"""
Returns a single byte from the device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
If no data is ready a negative error code will be returned.
...
b = pi.serial_read_byte(h1)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SERRB, handle, 0))
def serial_write_byte(self, handle, byte_val):
"""
Writes a single byte to the device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
byte_val:= 0-255, the value to write.
...
pi.serial_write_byte(h1, 23)
pi.serial_write_byte(h1, ord('Z'))
...
"""
return _u2i(
_pigpio_command(self.sl, _PI_CMD_SERWB, handle, byte_val))
def serial_read(self, handle, count=1000):
"""
Reads up to count bytes from the device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
count:= >0, the number of bytes to read (defaults to 1000).
The returned value is a tuple of the number of bytes read and
a bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
If no data is ready a bytes read of zero is returned.
...
(b, d) = pi.serial_read(h2, 100)
if b > 0:
# process read data
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(
_pigpio_command_nolock(self.sl, _PI_CMD_SERR, handle, count))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def serial_write(self, handle, data):
"""
Writes the data bytes to the device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
data:= the bytes to write.
...
pi.serial_write(h1, b'\\x02\\x03\\x04')
pi.serial_write(h2, b'help')
pi.serial_write(h2, "hello")
pi.serial_write(h1, [2, 3, 4])
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SERW, handle, 0, len(data), [data]))
def serial_data_available(self, handle):
"""
Returns the number of bytes available to be read from the
device associated with handle.
handle:= >=0 (as returned by a prior call to [*serial_open*]).
...
rdy = pi.serial_data_available(h1)
if rdy > 0:
(b, d) = pi.serial_read(h1, rdy)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SERDA, handle, 0))
def gpio_trigger(self, user_gpio, pulse_len=10, level=1):
"""
Send a trigger pulse to a GPIO. The GPIO is set to
level for pulse_len microseconds and then reset to not level.
user_gpio:= 0-31
pulse_len:= 1-100
level:= 0-1
...
pi.gpio_trigger(23, 10, 1)
...
"""
# pigpio message format
# I p1 user_gpio
# I p2 pulse_len
# I p3 4
## extension ##
# I level
extents = [struct.pack("I", level)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_TRIG, user_gpio, pulse_len, 4, extents))
def set_glitch_filter(self, user_gpio, steady):
"""
Sets a glitch filter on a GPIO.
Level changes on the GPIO are not reported unless the level
has been stable for at least [*steady*] microseconds. The
level is then reported. Level changes of less than [*steady*]
microseconds are ignored.
user_gpio:= 0-31
steady:= 0-300000
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER.
This filter affects the GPIO samples returned to callbacks set up
with [*callback*] and [*wait_for_edge*].
It does not affect levels read by [*read*],
[*read_bank_1*], or [*read_bank_2*].
Each (stable) edge will be timestamped [*steady*]
microseconds after it was first detected.
...
pi.set_glitch_filter(23, 100)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_FG, user_gpio, steady))
def set_noise_filter(self, user_gpio, steady, active):
"""
Sets a noise filter on a GPIO.
Level changes on the GPIO are ignored until a level which has
been stable for [*steady*] microseconds is detected. Level
changes on the GPIO are then reported for [*active*]
microseconds after which the process repeats.
user_gpio:= 0-31
steady:= 0-300000
active:= 0-1000000
Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER.
This filter affects the GPIO samples returned to callbacks set up
with [*callback*] and [*wait_for_edge*].
It does not affect levels read by [*read*],
[*read_bank_1*], or [*read_bank_2*].
Level changes before and after the active period may
be reported. Your software must be designed to cope with
such reports.
...
pi.set_noise_filter(23, 1000, 5000)
...
"""
# pigpio message format
# I p1 user_gpio
# I p2 steady
# I p3 4
## extension ##
# I active
extents = [struct.pack("I", active)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FN, user_gpio, steady, 4, extents))
def store_script(self, script):
"""
Store a script for later execution.
See [[http://abyz.me.uk/rpi/pigpio/pigs.html#Scripts]] for
details.
script:= the script text as a series of bytes.
Returns a >=0 script id if OK.
...
sid = pi.store_script(
b'tag 0 w 22 1 mils 100 w 22 0 mils 100 dcr p0 jp 0')
...
"""
# I p1 0
# I p2 0
# I p3 len
## extension ##
# s len data bytes
if len(script):
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_PROC, 0, 0, len(script), [script]))
else:
return 0
def run_script(self, script_id, params=None):
"""
Runs a stored script.
script_id:= id of stored script.
params:= up to 10 parameters required by the script.
...
s = pi.run_script(sid, [par1, par2])
s = pi.run_script(sid)
s = pi.run_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
...
"""
# I p1 script id
# I p2 0
# I p3 params * 4 (0-10 params)
## (optional) extension ##
# I[] params
if params is not None:
ext = bytearray()
for p in params:
ext.extend(struct.pack("I", p))
nump = len(params)
extents = [ext]
else:
nump = 0
extents = []
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_PROCR, script_id, 0, nump*4, extents))
def update_script(self, script_id, params=None):
"""
Sets the parameters of a script. The script may or
may not be running. The first parameters of the script are
overwritten with the new values.
script_id:= id of stored script.
params:= up to 10 parameters required by the script.
...
s = pi.update_script(sid, [par1, par2])
s = pi.update_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
...
"""
# I p1 script id
# I p2 0
# I p3 params * 4 (0-10 params)
## (optional) extension ##
# I[] params
if params is not None:
ext = bytearray()
for p in params:
ext.extend(struct.pack("I", p))
nump = len(params)
extents = [ext]
else:
nump = 0
extents = []
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_PROCU, script_id, 0, nump*4, extents))
def script_status(self, script_id):
"""
Returns the run status of a stored script as well as the
current values of parameters 0 to 9.
script_id:= id of stored script.
The run status may be
. .
PI_SCRIPT_INITING
PI_SCRIPT_HALTED
PI_SCRIPT_RUNNING
PI_SCRIPT_WAITING
PI_SCRIPT_FAILED
. .
The return value is a tuple of run status and a list of
the 10 parameters. On error the run status will be negative
and the parameter list will be empty.
...
(s, pars) = pi.script_status(sid)
...
"""
status = PI_CMD_INTERRUPTED
params = ()
with self.sl.l:
bytes = u2i(
_pigpio_command_nolock(self.sl, _PI_CMD_PROCP, script_id, 0))
if bytes > 0:
data = self._rxbuf(bytes)
pars = struct.unpack('11i', _str(data))
status = pars[0]
params = pars[1:]
else:
status = bytes
return status, params
def stop_script(self, script_id):
"""
Stops a running script.
script_id:= id of stored script.
...
status = pi.stop_script(sid)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCS, script_id, 0))
def delete_script(self, script_id):
"""
Deletes a stored script.
script_id:= id of stored script.
...
status = pi.delete_script(sid)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCD, script_id, 0))
def bb_serial_read_open(self, user_gpio, baud, bb_bits=8):
"""
Opens a GPIO for bit bang reading of serial data.
user_gpio:= 0-31, the GPIO to use.
baud:= 50-250000, the baud rate.
bb_bits:= 1-32, the number of bits per word, default 8.
The serial data is held in a cyclic buffer and is read using
[*bb_serial_read*].
It is the caller's responsibility to read data from the cyclic
buffer in a timely fashion.
...
status = pi.bb_serial_read_open(4, 19200)
status = pi.bb_serial_read_open(17, 9600)
...
"""
# pigpio message format
# I p1 user_gpio
# I p2 baud
# I p3 4
## extension ##
# I bb_bits
extents = [struct.pack("I", bb_bits)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SLRO, user_gpio, baud, 4, extents))
def bb_serial_read(self, user_gpio):
"""
Returns data from the bit bang serial cyclic buffer.
user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
The bytes returned for each character depend upon the number of
data bits [*bb_bits*] specified in the [*bb_serial_read_open*]
command.
For [*bb_bits*] 1-8 there will be one byte per character.
For [*bb_bits*] 9-16 there will be two bytes per character.
For [*bb_bits*] 17-32 there will be four bytes per character.
...
(count, data) = pi.bb_serial_read(4)
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(
_pigpio_command_nolock(self.sl, _PI_CMD_SLR, user_gpio, 10000))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def bb_serial_read_close(self, user_gpio):
"""
Closes a GPIO for bit bang reading of serial data.
user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
...
status = pi.bb_serial_read_close(17)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRC, user_gpio, 0))
def bb_serial_invert(self, user_gpio, invert):
"""
Invert serial logic.
user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*])
invert:= 0-1 (1 invert, 0 normal)
...
status = pi.bb_serial_invert(17, 1)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRI, user_gpio, invert))
def custom_1(self, arg1=0, arg2=0, argx=[]):
"""
Calls a pigpio function customised by the user.
arg1:= >=0, default 0.
arg2:= >=0, default 0.
argx:= extra arguments (each 0-255), default empty.
The returned value is an integer which by convention
should be >=0 for OK and <0 for error.
...
value = pi.custom_1()
value = pi.custom_1(23)
value = pi.custom_1(0, 55)
value = pi.custom_1(23, 56, [1, 5, 7])
value = pi.custom_1(23, 56, b"hello")
value = pi.custom_1(23, 56, "hello")
...
"""
# I p1 arg1
# I p2 arg2
# I p3 len
## extension ##
# s len argx bytes
return u2i(_pigpio_command_ext(
self.sl, _PI_CMD_CF1, arg1, arg2, len(argx), [argx]))
def custom_2(self, arg1=0, argx=[], retMax=8192):
"""
Calls a pigpio function customised by the user.
arg1:= >=0, default 0.
argx:= extra arguments (each 0-255), default empty.
retMax:= >=0, maximum number of bytes to return, default 8192.
The returned value is a tuple of the number of bytes
returned and a bytearray containing the bytes. If
there was an error the number of bytes read will be
less than zero (and will contain the error code).
...
(count, data) = pi.custom_2()
(count, data) = pi.custom_2(23)
(count, data) = pi.custom_2(23, [1, 5, 7])
(count, data) = pi.custom_2(23, b"hello")
(count, data) = pi.custom_2(23, "hello", 128)
...
"""
# I p1 arg1
# I p2 retMax
# I p3 len
## extension ##
# s len argx bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_CF2, arg1, retMax, len(argx), [argx]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def get_pad_strength(self, pad):
"""
This function returns the pad drive strength in mA.
pad:= 0-2, the pad to get.
Returns the pad drive strength if OK, otherwise PI_BAD_PAD.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
strength = pi.get_pad_strength(0) # Get pad 0 strength.
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PADG, pad, 0))
def set_pad_strength(self, pad, pad_strength):
"""
This function sets the pad drive strength in mA.
pad:= 0-2, the pad to set.
pad_strength:= 1-16 mA.
Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
...
pi.set_pad_strength(2, 14) # Set pad 2 to 14 mA.
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_PADS, pad, pad_strength))
def file_open(self, file_name, file_mode):
"""
This function returns a handle to a file opened in a specified mode.
file_name:= the file to open.
file_mode:= the file open mode.
Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE,
PI_NO_FILE_ACCESS, PI_BAD_FILE_MODE,
PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR.
...
h = pi.file_open("/home/pi/shared/dir_3/file.txt",
pigpio.FILE_WRITE | pigpio.FILE_CREATE)
pi.file_write(h, "Hello world")
pi.file_close(h)
...
File
A file may only be opened if permission is granted by an entry
in /opt/pigpio/access. This is intended to allow remote access
to files in a more or less controlled manner.
Each entry in /opt/pigpio/access takes the form of a file path
which may contain wildcards followed by a single letter permission.
The permission may be R for read, W for write, U for read/write,
and N for no access.
Where more than one entry matches a file the most specific rule
applies. If no entry matches a file then access is denied.
Suppose /opt/pigpio/access contains the following entries:
. .
/home/* n
/home/pi/shared/dir_1/* w
/home/pi/shared/dir_2/* r
/home/pi/shared/dir_3/* u
/home/pi/shared/dir_1/file.txt n
. .
Files may be written in directory dir_1 with the exception
of file.txt.
Files may be read in directory dir_2.
Files may be read and written in directory dir_3.
If a directory allows read, write, or read/write access then files
may be created in that directory.
In an attempt to prevent risky permissions the following paths are
ignored in /opt/pigpio/access:
. .
a path containing ..
a path containing only wildcards (*?)
a path containing less than two non-wildcard parts
. .
Mode
The mode may have the following values:
Constant @ Value @ Meaning
FILE_READ @ 1 @ open file for reading
FILE_WRITE @ 2 @ open file for writing
FILE_RW @ 3 @ open file for reading and writing
The following values may be or'd into the mode:
Name @ Value @ Meaning
FILE_APPEND @ 4 @ All writes append data to the end of the file
FILE_CREATE @ 8 @ The file is created if it doesn't exist
FILE_TRUNC @ 16 @ The file is truncated
Newly created files are owned by root with permissions owner
read and write.
...
#!/usr/bin/env python
import pigpio
pi = pigpio.pi()
if not pi.connected:
exit()
# Assumes /opt/pigpio/access contains the following line:
# /ram/*.c r
handle = pi.file_open("/ram/pigpio.c", pigpio.FILE_READ)
done = False
while not done:
c, d = pi.file_read(handle, 60000)
if c > 0:
print(d)
else:
done = True
pi.file_close(handle)
pi.stop()
...
"""
# I p1 file_mode
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FO, file_mode, 0, len(file_name), [file_name]))
def file_close(self, handle):
"""
Closes the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
...
pi.file_close(handle)
...
"""
return _u2i(_pigpio_command(self.sl, _PI_CMD_FC, handle, 0))
def file_read(self, handle, count):
"""
Reads up to count bytes from the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
count:= >0, the number of bytes to read.
The returned value is a tuple of the number of bytes read and a
bytearray containing the bytes. If there was an error the
number of bytes read will be less than zero (and will contain
the error code).
...
(b, d) = pi.file_read(h2, 100)
if b > 0:
# process read data
...
"""
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(
_pigpio_command_nolock(self.sl, _PI_CMD_FR, handle, count))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def file_write(self, handle, data):
"""
Writes the data bytes to the file associated with handle.
handle:= >=0 (as returned by a prior call to [*file_open*]).
data:= the bytes to write.
...
pi.file_write(h1, b'\\x02\\x03\\x04')
pi.file_write(h2, b'help')
pi.file_write(h2, "hello")
pi.file_write(h1, [2, 3, 4])
...
"""
# I p1 handle
# I p2 0
# I p3 len
## extension ##
# s len data bytes
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FW, handle, 0, len(data), [data]))
def file_seek(self, handle, seek_offset, seek_from):
"""
Seeks to a position relative to the start, current position,
or end of the file. Returns the new position.
handle:= >=0 (as returned by a prior call to [*file_open*]).
seek_offset:= byte offset.
seek_from:= FROM_START, FROM_CURRENT, or FROM_END.
...
new_pos = pi.file_seek(h, 100, pigpio.FROM_START)
cur_pos = pi.file_seek(h, 0, pigpio.FROM_CURRENT)
file_size = pi.file_seek(h, 0, pigpio.FROM_END)
...
"""
# I p1 handle
# I p2 seek_offset
# I p3 4
## extension ##
# I seek_from
extents = [struct.pack("I", seek_from)]
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_FS, handle, seek_offset, 4, extents))
def file_list(self, fpattern):
"""
Returns a list of files which match a pattern.
fpattern:= file pattern to match.
Returns the number of returned bytes if OK, otherwise
PI_NO_FILE_ACCESS, or PI_NO_FILE_MATCH.
The pattern must match an entry in /opt/pigpio/access. The
pattern may contain wildcards. See [*file_open*].
NOTE
The returned value is not the number of files, it is the number
of bytes in the buffer. The file names are separated by newline
characters.
...
#!/usr/bin/env python
import pigpio
pi = pigpio.pi()
if not pi.connected:
exit()
# Assumes /opt/pigpio/access contains the following line:
# /ram/*.c r
c, d = pi.file_list("/ram/p*.c")
if c > 0:
print(d)
pi.stop()
...
"""
# I p1 60000
# I p2 0
# I p3 len
## extension ##
# s len data bytes
bytes = PI_CMD_INTERRUPTED
rdata = ""
with self.sl.l:
bytes = u2i(_pigpio_command_ext_nolock(
self.sl, _PI_CMD_FL, 60000, 0, len(fpattern), [fpattern]))
if bytes > 0:
rdata = self._rxbuf(bytes)
return bytes, rdata
def shell(self, shellscr, pstring=""):
"""
This function uses the system call to execute a shell script
with the given string as its parameter.
shellscr:= the name of the script, only alphanumerics,
'-' and '_' are allowed in the name
pstring := the parameter string to pass to the script
The exit status of the system call is returned if OK,
otherwise PI_BAD_SHELL_STATUS.
[*shellscr*] must exist in /opt/pigpio/cgi and must be executable.
The returned exit status is normally 256 times that set by
the shell script exit function. If the script can't be
found 32512 will be returned.
The following table gives some example returned statuses:
Script exit status @ Returned system call status
1 @ 256
5 @ 1280
10 @ 2560
200 @ 51200
script not found @ 32512
...
// pass two parameters, hello and world
status = pi.shell("scr1", "hello world");
// pass three parameters, hello, string with spaces, and world
status = pi.shell("scr1", "hello 'string with spaces' world");
// pass one parameter, hello string with spaces world
status = pi.shell("scr1", "\\"hello string with spaces world\\"");
...
"""
# I p1 len(shellscr)
# I p2 0
# I p3 len(shellscr)+len(pstring)+1
## extension ##
# s len data bytes
ls = len(shellscr)
lp = len(pstring)
return _u2i(_pigpio_command_ext(
self.sl, _PI_CMD_SHELL, ls, 0, ls+lp+1, [shellscr+'\x00'+pstring]))
def callback(self, user_gpio, edge=RISING_EDGE, func=None):
"""
Calls a user supplied function (a callback) whenever the
specified GPIO edge is detected.
user_gpio:= 0-31.
edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE.
func:= user supplied callback function.
The user supplied callback receives three parameters, the GPIO,
the level, and the tick.
. .
Parameter Value Meaning
GPIO 0-31 The GPIO which has changed state
level 0-2 0 = change to low (a falling edge)
1 = change to high (a rising edge)
2 = no level change (a watchdog timeout)
tick 32 bit The number of microseconds since boot
WARNING: this wraps around from
4294967295 to 0 roughly every 72 minutes
. .
If a user callback is not specified a default tally callback is
provided which simply counts edges. The count may be retrieved
by calling the tally function. The count may be reset to zero
by calling the reset_tally function.
The callback may be cancelled by calling the cancel function.
A GPIO may have multiple callbacks (although I can't think of
a reason to do so).
The GPIO are sampled at a rate set when the pigpio daemon
is started (default 5 us).
The number of samples per second is given in the following table.
. .
samples
per sec
1 1,000,000
2 500,000
sample 4 250,000
rate 5 200,000
(us) 8 125,000
10 100,000
. .
GPIO level changes shorter than the sample rate may be missed.
The daemon software which generates the callbacks is triggered
1000 times per second. The callbacks will be called once per
level change since the last time they were called.
i.e. The callbacks will get all level changes but there will
be a latency.
If you want to track the level of more than one GPIO do so by
maintaining the state in the callback. Do not use [*read*].
Remember the event that triggered the callback may have
happened several milliseconds before and the GPIO may have
changed level many times since then.
...
def cbf(gpio, level, tick):
print(gpio, level, tick)
cb1 = pi.callback(22, pigpio.EITHER_EDGE, cbf)
cb2 = pi.callback(4, pigpio.EITHER_EDGE)
cb3 = pi.callback(17)
print(cb3.tally())
cb3.reset_tally()
cb1.cancel() # To cancel callback cb1.
...
"""
return _callback(self._notify, user_gpio, edge, func)
def event_callback(self, event, func=None):
"""
Calls a user supplied function (a callback) whenever the
specified event is signalled.
event:= 0-31.
func:= user supplied callback function.
The user supplied callback receives two parameters, the event id,
and the tick.
If a user callback is not specified a default tally callback is
provided which simply counts events. The count may be retrieved
by calling the tally function. The count may be reset to zero
by calling the reset_tally function.
The callback may be canceled by calling the cancel function.
An event may have multiple callbacks (although I can't think of
a reason to do so).
...
def cbf(event, tick):
print(event, tick)
cb1 = pi.event_callback(22, cbf)
cb2 = pi.event_callback(4)
print(cb2.tally())
cb2.reset_tally()
cb1.cancel() # To cancel callback cb1.
...
"""
return _event(self._notify, event, func)
def wait_for_edge(self, user_gpio, edge=RISING_EDGE, wait_timeout=60.0):
"""
Wait for an edge event on a GPIO.
user_gpio:= 0-31.
edge:= EITHER_EDGE, RISING_EDGE (default), or
FALLING_EDGE.
wait_timeout:= >=0.0 (default 60.0).
The function returns when the edge is detected or after
the number of seconds specified by timeout has expired.
Do not use this function for precise timing purposes,
the edge is only checked 20 times a second. Whenever
you need to know the accurate time of GPIO events use
a [*callback*] function.
The function returns True if the edge is detected,
otherwise False.
...
if pi.wait_for_edge(23):
print("Rising edge detected")
else:
print("wait for edge timed out")
if pi.wait_for_edge(23, pigpio.FALLING_EDGE, 5.0):
print("Falling edge detected")
else:
print("wait for falling edge timed out")
...
"""
a = _wait_for_edge(self._notify, user_gpio, edge, wait_timeout)
return a.trigger
def wait_for_event(self, event, wait_timeout=60.0):
"""
Wait for an event.
event:= 0-31.
wait_timeout:= >=0.0 (default 60.0).
The function returns when the event is signalled or after
the number of seconds specified by timeout has expired.
The function returns True if the event is detected,
otherwise False.
...
if pi.wait_for_event(23):
print("event detected")
else:
print("wait for event timed out")
...
"""
a = _wait_for_event(self._notify, event, wait_timeout)
return a.trigger
def __init__(self,
host = os.getenv("PIGPIO_ADDR", 'localhost'),
port = os.getenv("PIGPIO_PORT", 8888),
show_errors = True):
"""
Grants access to a Pi's GPIO.
host:= the host name of the Pi on which the pigpio daemon is
running. The default is localhost unless overridden by
the PIGPIO_ADDR environment variable.
port:= the port number on which the pigpio daemon is listening.
The default is 8888 unless overridden by the PIGPIO_PORT
environment variable. The pigpio daemon must have been
started with the same port number.
This connects to the pigpio daemon and reserves resources
to be used for sending commands and receiving notifications.
An instance attribute [*connected*] may be used to check the
success of the connection. If the connection is established
successfully [*connected*] will be True, otherwise False.
...
pi = pigio.pi() # use defaults
pi = pigpio.pi('mypi') # specify host, default port
pi = pigpio.pi('mypi', 7777) # specify host and port
pi = pigpio.pi() # exit script if no connection
if not pi.connected:
exit()
...
"""
self.connected = True
self.sl = _socklock()
self._notify = None
port = int(port)
if host == '':
host = "localhost"
self._host = host
self._port = port
try:
self.sl.s = socket.create_connection((host, port), None)
# Disable the Nagle algorithm.
self.sl.s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
self._notify = _callback_thread(self.sl, host, port)
except socket.error:
exception = 1
except struct.error:
exception = 2
except error:
# assumed to be no handle available
exception = 3
else:
exception = 0
atexit.register(self.stop)
if exception != 0:
self.connected = False
if self.sl.s is not None:
self.sl.s = None
if show_errors:
s = "Can't connect to pigpio at {}({})".format(host, str(port))
print(_except_a.format(s))
if exception == 1:
print(_except_1)
elif exception == 2:
print(_except_2)
else:
print(_except_3)
print(_except_z)
def __repr__(self):
return "<pipio.pi host={} port={}>".format(self._host, self._port)
def stop(self):
"""Release pigpio resources.
...
pi.stop()
...
"""
self.connected = False
if self._notify is not None:
self._notify.stop()
self._notify = None
if self.sl.s is not None:
self.sl.s.close()
self.sl.s = None
def xref():
"""
active: 0-1000000
The number of microseconds level changes are reported for once
a noise filter has been triggered (by [*steady*] microseconds of
a stable level).
arg1:
An unsigned argument passed to a user customised function. Its
meaning is defined by the customiser.
arg2:
An unsigned argument passed to a user customised function. Its
meaning is defined by the customiser.
argx:
An array of bytes passed to a user customised function.
Its meaning and content is defined by the customiser.
baud:
The speed of serial communication (I2C, SPI, serial link, waves)
in bits per second.
bb_bits: 1-32
The number of data bits to be used when adding serial data to a
waveform.
bb_stop: 2-8
The number of (half) stop bits to be used when adding serial data
to a waveform.
bit: 0-1
A value of 0 or 1.
bits: 32 bit number
A mask used to select GPIO to be operated on. If bit n is set
then GPIO n is selected. A convenient way of setting bit n is to
bit or in the value (1<<n).
To select GPIO 1, 7, 23
bits = (1<<1) | (1<<7) | (1<<23)
bsc_control:
. .
22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
a a a a a a a - - IT HC TF IR RE TE BK EC ES PL PH I2 SP EN
. .
aaaaaaa defines the I2C slave address (only relevant in I2C mode)
Bits 0-13 are copied unchanged to the BSC CR register. See
pages 163-165 of the Broadcom peripherals document.
byte_val: 0-255
A whole number.
clkfreq: 4689-250M (13184-375M for the BCM2711)
The hardware clock frequency.
connected:
True if a connection was established, False otherwise.
count:
The number of bytes of data to be transferred.
CS:
The GPIO used for the slave select signal when bit banging SPI.
data:
Data to be transmitted, a series of bytes.
delay: >=1
The length of a pulse in microseconds.
dutycycle: 0-range_
A number between 0 and range_.
The dutycycle sets the proportion of time on versus time off during each
PWM cycle.
Dutycycle @ On time
0 @ Off
range_ * 0.25 @ 25% On
range_ * 0.50 @ 50% On
range_ * 0.75 @ 75% On
range_ @ Fully On
edge: 0-2
. .
EITHER_EDGE = 2
FALLING_EDGE = 1
RISING_EDGE = 0
. .
errnum: <0
. .
PI_BAD_USER_GPIO = -2
PI_BAD_GPIO = -3
PI_BAD_MODE = -4
PI_BAD_LEVEL = -5
PI_BAD_PUD = -6
PI_BAD_PULSEWIDTH = -7
PI_BAD_DUTYCYCLE = -8
PI_BAD_WDOG_TIMEOUT = -15
PI_BAD_DUTYRANGE = -21
PI_NO_HANDLE = -24
PI_BAD_HANDLE = -25
PI_BAD_WAVE_BAUD = -35
PI_TOO_MANY_PULSES = -36
PI_TOO_MANY_CHARS = -37
PI_NOT_SERIAL_GPIO = -38
PI_NOT_PERMITTED = -41
PI_SOME_PERMITTED = -42
PI_BAD_WVSC_COMMND = -43
PI_BAD_WVSM_COMMND = -44
PI_BAD_WVSP_COMMND = -45
PI_BAD_PULSELEN = -46
PI_BAD_SCRIPT = -47
PI_BAD_SCRIPT_ID = -48
PI_BAD_SER_OFFSET = -49
PI_GPIO_IN_USE = -50
PI_BAD_SERIAL_COUNT = -51
PI_BAD_PARAM_NUM = -52
PI_DUP_TAG = -53
PI_TOO_MANY_TAGS = -54
PI_BAD_SCRIPT_CMD = -55
PI_BAD_VAR_NUM = -56
PI_NO_SCRIPT_ROOM = -57
PI_NO_MEMORY = -58
PI_SOCK_READ_FAILED = -59
PI_SOCK_WRIT_FAILED = -60
PI_TOO_MANY_PARAM = -61
PI_SCRIPT_NOT_READY = -62
PI_BAD_TAG = -63
PI_BAD_MICS_DELAY = -64
PI_BAD_MILS_DELAY = -65
PI_BAD_WAVE_ID = -66
PI_TOO_MANY_CBS = -67
PI_TOO_MANY_OOL = -68
PI_EMPTY_WAVEFORM = -69
PI_NO_WAVEFORM_ID = -70
PI_I2C_OPEN_FAILED = -71
PI_SER_OPEN_FAILED = -72
PI_SPI_OPEN_FAILED = -73
PI_BAD_I2C_BUS = -74
PI_BAD_I2C_ADDR = -75
PI_BAD_SPI_CHANNEL = -76
PI_BAD_FLAGS = -77
PI_BAD_SPI_SPEED = -78
PI_BAD_SER_DEVICE = -79
PI_BAD_SER_SPEED = -80
PI_BAD_PARAM = -81
PI_I2C_WRITE_FAILED = -82
PI_I2C_READ_FAILED = -83
PI_BAD_SPI_COUNT = -84
PI_SER_WRITE_FAILED = -85
PI_SER_READ_FAILED = -86
PI_SER_READ_NO_DATA = -87
PI_UNKNOWN_COMMAND = -88
PI_SPI_XFER_FAILED = -89
PI_NO_AUX_SPI = -91
PI_NOT_PWM_GPIO = -92
PI_NOT_SERVO_GPIO = -93
PI_NOT_HCLK_GPIO = -94
PI_NOT_HPWM_GPIO = -95
PI_BAD_HPWM_FREQ = -96
PI_BAD_HPWM_DUTY = -97
PI_BAD_HCLK_FREQ = -98
PI_BAD_HCLK_PASS = -99
PI_HPWM_ILLEGAL = -100
PI_BAD_DATABITS = -101
PI_BAD_STOPBITS = -102
PI_MSG_TOOBIG = -103
PI_BAD_MALLOC_MODE = -104
PI_BAD_SMBUS_CMD = -107
PI_NOT_I2C_GPIO = -108
PI_BAD_I2C_WLEN = -109
PI_BAD_I2C_RLEN = -110
PI_BAD_I2C_CMD = -111
PI_BAD_I2C_BAUD = -112
PI_CHAIN_LOOP_CNT = -113
PI_BAD_CHAIN_LOOP = -114
PI_CHAIN_COUNTER = -115
PI_BAD_CHAIN_CMD = -116
PI_BAD_CHAIN_DELAY = -117
PI_CHAIN_NESTING = -118
PI_CHAIN_TOO_BIG = -119
PI_DEPRECATED = -120
PI_BAD_SER_INVERT = -121
PI_BAD_FOREVER = -124
PI_BAD_FILTER = -125
PI_BAD_PAD = -126
PI_BAD_STRENGTH = -127
PI_FIL_OPEN_FAILED = -128
PI_BAD_FILE_MODE = -129
PI_BAD_FILE_FLAG = -130
PI_BAD_FILE_READ = -131
PI_BAD_FILE_WRITE = -132
PI_FILE_NOT_ROPEN = -133
PI_FILE_NOT_WOPEN = -134
PI_BAD_FILE_SEEK = -135
PI_NO_FILE_MATCH = -136
PI_NO_FILE_ACCESS = -137
PI_FILE_IS_A_DIR = -138
PI_BAD_SHELL_STATUS = -139
PI_BAD_SCRIPT_NAME = -140
PI_BAD_SPI_BAUD = -141
PI_NOT_SPI_GPIO = -142
PI_BAD_EVENT_ID = -143
PI_CMD_INTERRUPTED = -144
PI_NOT_ON_BCM2711 = -145
PI_ONLY_ON_BCM2711 = -146
. .
event:0-31
An event is a signal used to inform one or more consumers
to start an action.
file_mode:
The mode may have the following values
. .
FILE_READ 1
FILE_WRITE 2
FILE_RW 3
. .
The following values can be or'd into the file open mode
. .
FILE_APPEND 4
FILE_CREATE 8
FILE_TRUNC 16
. .
file_name:
A full file path. To be accessible the path must match
an entry in /opt/pigpio/access.
fpattern:
A file path which may contain wildcards. To be accessible the path
must match an entry in /opt/pigpio/access.
frequency: 0-40000
Defines the frequency to be used for PWM on a GPIO.
The closest permitted frequency will be used.
func:
A user supplied callback function.
gpio: 0-53
A Broadcom numbered GPIO. All the user GPIO are in the range 0-31.
There are 54 General Purpose Input Outputs (GPIO) named GPIO0
through GPIO53.
They are split into two banks. Bank 1 consists of GPIO0
through GPIO31. Bank 2 consists of GPIO32 through GPIO53.
All the GPIO which are safe for the user to read and write are in
bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards
have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26.
See [*get_hardware_revision*].
The user GPIO are marked with an X in the following table
. .
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type 1 X X - - X - - X X X X X - - X X
Type 2 - - X X X - - X X X X X - - X X
Type 3 X X X X X X X X X X X X X X
16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Type 1 - X X - - X X X X X - - - - - -
Type 2 - X X - - - X X X X - X X X X X
Type 3 X X X X X X X X X X X X - - - -
. .
gpio_off:
A mask used to select GPIO to be operated on. See [*bits*].
This mask selects the GPIO to be switched off at the start
of a pulse.
gpio_on:
A mask used to select GPIO to be operated on. See [*bits*].
This mask selects the GPIO to be switched on at the start
of a pulse.
handle: >=0
A number referencing an object opened by one of the following
[*file_open*]
[*i2c_open*]
[*notify_open*]
[*serial_open*]
[*spi_open*]
host:
The name or IP address of the Pi running the pigpio daemon.
i2c_address: 0-0x7F
The address of a device on the I2C bus.
i2c_bus: >=0
An I2C bus number.
i2c_flags: 0
No I2C flags are currently defined.
invert: 0-1
A flag used to set normal or inverted bit bang serial data
level logic.
level: 0-1 (2)
. .
CLEAR = 0
HIGH = 1
LOW = 0
OFF = 0
ON = 1
SET = 1
TIMEOUT = 2 # only returned for a watchdog timeout
. .
MISO:
The GPIO used for the MISO signal when bit banging SPI.
mode:
1.The operational mode of a GPIO, normally INPUT or OUTPUT.
. .
ALT0 = 4
ALT1 = 5
ALT2 = 6
ALT3 = 7
ALT4 = 3
ALT5 = 2
INPUT = 0
OUTPUT = 1
. .
2. The mode of waveform transmission.
. .
WAVE_MODE_ONE_SHOT = 0
WAVE_MODE_REPEAT = 1
WAVE_MODE_ONE_SHOT_SYNC = 2
WAVE_MODE_REPEAT_SYNC = 3
. .
MOSI:
The GPIO used for the MOSI signal when bit banging SPI.
offset: >=0
The offset wave data starts from the beginning of the waveform
being currently defined.
pad: 0-2
A set of GPIO which share common drivers.
Pad @ GPIO
0 @ 0-27
1 @ 28-45
2 @ 46-53
pad_strength: 1-16
The mA which may be drawn from each GPIO whilst still guaranteeing the
high and low levels.
params: 32 bit number
When scripts are started they can receive up to 10 parameters
to define their operation.
percent:: 0-100
The size of waveform as percentage of maximum available.
port:
The port used by the pigpio daemon, defaults to 8888.
pstring:
The string to be passed to a [*shell*] script to be executed.
pud: 0-2
. .
PUD_DOWN = 1
PUD_OFF = 0
PUD_UP = 2
. .
pulse_len: 1-100
The length of the trigger pulse in microseconds.
pulses:
A list of class pulse objects defining the characteristics of a
waveform.
pulsewidth:
The servo pulsewidth in microseconds. 0 switches pulses off.
PWMduty: 0-1000000 (1M)
The hardware PWM dutycycle.
PWMfreq: 1-125M (1-187.5M for the BCM2711)
The hardware PWM frequency.
range_: 25-40000
Defines the limits for the [*dutycycle*] parameter.
range_ defaults to 255.
reg: 0-255
An I2C device register. The usable registers depend on the
actual device.
retMax: >=0
The maximum number of bytes a user customised function
should return, default 8192.
SCL:
The user GPIO to use for the clock when bit banging I2C.
SCLK::
The GPIO used for the SCLK signal when bit banging SPI.
script:
The text of a script to store on the pigpio daemon.
script_id: >=0
A number referencing a script created by [*store_script*].
SDA:
The user GPIO to use for data when bit banging I2C.
seek_from: 0-2
Direction to seek for [*file_seek*].
. .
FROM_START=0
FROM_CURRENT=1
FROM_END=2
. .
seek_offset:
The number of bytes to move forward (positive) or backwards
(negative) from the seek position (start, current, or end of file).
ser_flags: 32 bit
No serial flags are currently defined.
serial_*:
One of the serial_ functions.
shellscr:
The name of a shell script. The script must exist
in /opt/pigpio/cgi and must be executable.
show_errors:
Controls the display of pigpio daemon connection failures.
The default of True prints the probable failure reasons to
standard output.
spi_channel: 0-2
A SPI channel.
spi_flags: 32 bit
See [*spi_open*].
steady: 0-300000
The number of microseconds level changes must be stable for
before reporting the level changed ([*set_glitch_filter*])
or triggering the active part of a noise filter
([*set_noise_filter*]).
t1:
A tick (earlier).
t2:
A tick (later).
tty:
A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0
uint32:
An unsigned 32 bit number.
user_gpio: 0-31
A Broadcom numbered GPIO.
All the user GPIO are in the range 0-31.
Not all the GPIO within this range are usable, some are reserved
for system use.
See [*gpio*].
wait_timeout: 0.0 -
The number of seconds to wait in [*wait_for_edge*] before timing out.
wave_add_*:
One of the following
[*wave_add_new*]
[*wave_add_generic*]
[*wave_add_serial*]
wave_id: >=0
A number referencing a wave created by [*wave_create*].
wave_send_*:
One of the following
[*wave_send_once*]
[*wave_send_repeat*]
wdog_timeout: 0-60000
Defines a GPIO watchdog timeout in milliseconds. If no level
change is detected on the GPIO for timeout millisecond a watchdog
timeout report is issued (with level TIMEOUT).
word_val: 0-65535
A whole number.
"""
pass